Robotically Assisted Long Bone Biopsy Under MRI Imaging: Workflow and Preclinical Study

Academic Radiology
Kevin ClearyDan Stoianovici

Abstract

Our research team has developed a magnetic resonance imaging (MRI)-compatible robot for long bone biopsy. The robot is intended to enable a new workflow for bone biopsy in pediatrics under MRI imaging. Our long-term objectives are to minimize trauma and eliminate radiation exposure when diagnosing children with bone cancers and bone infections. This article presents our robotic systems, phantom accuracy studies, and workflow analysis. This section describes several aspects of our work including the envisioned clinical workflow, the MRI-compatible robot, and the experimental setup. The workflow consists of five steps and is intended to enable the entire procedure to be completed in the MRI suite. The MRI-compatible robot is MR Safe, has 3 degrees of freedom, and a remote center of motion mechanism for orienting a needle guide. The accuracy study was done in a Siemens Aera 1.5T scanner with a long bone phantom. Four targeting holes were drilled in the phantom. Each target was approached twice at slightly oblique angles using the robot needle guide for a total of eight attempts. A workflow analysis showed the average time for each targeting attempt was 32 minutes, including robot setup time. The average 3D targeting error was 1.39...Continue Reading

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Citations

Nov 1, 2018·Annals of Biomedical Engineering·Yue ChenHong Yu
Nov 21, 2018·International Journal of Computer Assisted Radiology and Surgery·Sunghwan LimKevin Cleary
Jun 21, 2018·Annals of Biomedical Engineering·Reza MonfarediKarun Sharma
Feb 14, 2021·Journal of Orthopaedic Research : Official Publication of the Orthopaedic Research Society·Richard T EppersonPeter Stevens
Dec 11, 2020·The Quarterly Journal of Nuclear Medicine and Molecular Imaging : Official Publication of the Italian Association of Nuclear Medicine (AIMN) [and] the International Association of Radiopharmacology (IAR), [and] Section of the Society of Radiopharmaceutica·C Martin ReichAndreas Melzer
May 28, 2021·Frontiers in Robotics and AI·Niravkumar PatelKevin Cleary

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