TY - GEN
T1 - A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection
AU - Li, Gang
AU - Patel, Niravkumar A.
AU - Liu, Weiqiang
AU - Wu, Di
AU - Sharma, Karun
AU - Cleary, Kevin
AU - Fritz, Jan
AU - Iordachita, Iulian
N1 - Funding Information:
*This work was funded by National Institute of Health grant R01 EB025179 1Gang Li, Niravkumar A. Patel, Weiqiang Liu, Di Wu, and Iulian Iorda-chita are with Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA gli22@jhu.edu 2Karun Sharma and Kevin Cleary are with Sheikh Zayed Institute for Pediatric Surgical Innovation, Children’s National Health System, Washington, DC, USA 3Jan Fritz is with Russell H. Morgan Department of Radiology and Radiological Science, Johns Hopkins University School of Medicine, Baltimore, MD, USA
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner bore during imaging; hence, minimizing the need of moving the patient in or out of the scanner during the procedure, and thus potentially reducing the procedure time and streamlining the workflow. The robot is built with a lightweight and compact structure that can be attached directly to the patient's lower back using straps; therefore, attenuating the effect of patient motion by moving with the patient. The novel remote actuation design of the needle driver module with beaded chain transmission can reduce the weight and profile on the patient, as well as minimize the imaging degradation caused by the actuation electronics. The free space positioning accuracy of the system was evaluated with an optical tracking system, demonstrating the mean absolute errors (MAE) of the tip position to be 0.99±0.46 mm and orientation to be 0.99±0.65°. Qualitative imaging quality evaluation was performed± on a human volunteer, revealing minimal visible image degradation that should not affect the procedure. The mounting stability of the system was assessed on a human volunteer, indicating the 3D position variation of target movement with respect to the robot frame to be less than 0.7 mm.
AB - This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner bore during imaging; hence, minimizing the need of moving the patient in or out of the scanner during the procedure, and thus potentially reducing the procedure time and streamlining the workflow. The robot is built with a lightweight and compact structure that can be attached directly to the patient's lower back using straps; therefore, attenuating the effect of patient motion by moving with the patient. The novel remote actuation design of the needle driver module with beaded chain transmission can reduce the weight and profile on the patient, as well as minimize the imaging degradation caused by the actuation electronics. The free space positioning accuracy of the system was evaluated with an optical tracking system, demonstrating the mean absolute errors (MAE) of the tip position to be 0.99±0.46 mm and orientation to be 0.99±0.65°. Qualitative imaging quality evaluation was performed± on a human volunteer, revealing minimal visible image degradation that should not affect the procedure. The mounting stability of the system was assessed on a human volunteer, indicating the 3D position variation of target movement with respect to the robot frame to be less than 0.7 mm.
UR - http://www.scopus.com/inward/record.url?scp=85092748442&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85092748442&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197534
DO - 10.1109/ICRA40945.2020.9197534
M3 - Conference contribution
AN - SCOPUS:85092748442
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5495
EP - 5501
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -