An Integrated Coil and Body-Mounted MR Robot for Pediatric Arthrography

用于小儿关节造影的集成线圈和身体安装 MR 机器人

• 批准号: 9253391
• 负责人: Kevin R. Cleary
• 金额: $ 20.57万
• 依托单位: CHILDREN'S RESEARCH INSTITUTE
• 依托单位国家: 美国
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-05-01 至 2019-02-01
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9253391
• 关键词: Ablation; Adult; Age; American; Ankle; Anxiety; Arthrography; Biopsy; Child; Childhood; Childhood Injury; Clinical; Clinical Trials; Coiled Bodies; Contrast Media; Custom; Databases; Development; Diagnosis; Drainage procedure; Environment; Evaluation; Expenditure; Fluoroscopy; Future; Goals; Healthcare; Healthcare Common Procedure Coding System; Hip region structure; Image; Injectable; Injection of therapeutic agent; Injury; Intervention; Joint structure of shoulder region; Joints; Knee; Lead; MRI Scans; Magnetic Resonance Imaging; Manuals; Medical center; Medicare; Modality; Modification; Nature; Needles; Patients; Pediatrics; Phase; Positioning Attribute; Procedures; Radiation; Radiation exposure; Research; Robot; Robotics; Roentgen Rays; Sedation procedure; Shoulder; Site; Sports; Structure; System; Techniques; Technology; Technology Transfer; Testing; Time; Washington; Work; Wrist; X-Ray Computed Tomography; anxious; articular cartilage; base; cost; design; design and construction; experience; high resolution imaging; image guided; image guided intervention; imaging modality; improved; musculoskeletal imaging; musculoskeletal injury; novel; pediatric patients; prototype; public health relevance; radiofrequency; radiological imaging; standard of care; statistics

 DESCRIPTION (provided by applicant): The goal of this proposal is to develop and evaluate a patient-mounted MRI-compatible shoulder arthrography robot integrated with a sensitive MRI imaging coil. The patient-mounted robot is intended to enable a novel workflow for pediatric arthrography that eliminates the need for fluoroscopy while providing accurate image-guided needle placement in the MRI suite. This proposal is a first step toward achieving our long-term goal of offering MRI-guided, radiation-free procedures to pediatric patients. MRI scanning is the standard of care for musculoskeletal imaging and therefore musculoskeletal injuries are well suited to MRI-guided interventions. While this proposal is focused on pediatrics, the techniques developed here will be applicable to adult procedures as well. In this project, we will develop a novel, custom-designed coil array that will fit inside the base of our MRI- compatible robot and enable high-resolution imaging of the shoulder joint during needle-based interventions. For the arthrography procedure, the coil array and robot will enable us to complete the procedure in the MRI suite in one setting and eliminate the need for fluoroscopy. This is particularly significant i the pediatric setting since there are increasing concerns about the long-term consequences of radiation exposure in children. Our specific aims are to: 1. Design, construct, and test an MRI coil array that can fit inside the base of the MRI compatible robot developed at Children's National Medical Center. The coil array will be constructed using a novel integrated balun approach that has a low-profile and is insensitive to radiofrequency field disturbances caused by nearby conducting structures such as cables and wires. 2. Modify the prototype body-mounted robot to accommodate the new coil array. These modifications will include improvements to the robot design, changing the robot base for the coil to fit, and including fiducials for registration purposes. 3. Test the targeting accuracy of the integrated system in the MRI suite in a mock-up study and with anthropomorphic and ham phantoms. Make design improvements required and repeat the evaluations.

 描述（由适用提供）：该提案的目的是开发和评估与敏感MRI成像线圈集成的与患者兼容的MRI兼容的肩部关节造影机器人。载有患者的机器人旨在为小儿关节造影提供新的工作流程，以消除对荧光镜的需求，同时在MRI套件中提供准确的图像引导的针头放置。该提案是实现我们长期目标的第一步，即向儿科患者提供无辐射程序的无辐射程序。 MRI扫描是肌肉骨骼成像的护理标准，因此肌肉骨骼损伤非常适合MRI引导的干预措施。尽管该提案的重点是儿科，但此处开发的技术也适用于成人程序。在这个项目中，我们将开发一个新颖的定制设计的线圈阵列，该阵列将适合我们的MRI-Compatimabial机器人的底部，并在基于针头的干预过程中对肩关节进行高分辨率成像。对于关节造影程序，线圈阵列和机器人将使我们能够在一种环境中完成MRI套件中的过程，并消除对荧光镜的需求。这是小儿环境特别重要的，因为人们对儿童辐射暴露的长期后果越来越担心。我们的具体目的是：1。设计，构造和测试一个可以安装在儿童国家医疗中心开发的MRI兼容机器人基础内的MRI线圈阵列。线圈阵列将使用一种新型的集成Balun方法构建，该方法具有低调，并且对近乎导电的结构（例如电缆和电线）引起的射频场灾害不敏感。 2。修改原型车身机器人以容纳新的线圈阵列。这些修改将包括对机器人设计的改进，更改机器人基础以使线圈适合，并包括注册 目的。 3。在模拟研究中，通过拟人化和HAM幻像测试集成系统在MRI套件中的靶向精度。进行设计改进并重复评估。

项目成果

Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study.

• DOI: 10.1007/s11548-018-1839-y
• 发表时间: 2018-11
• 期刊: International journal of computer assisted radiology and surgery
• 影响因子: 3
• 作者: Monfaredi R;Iordachita I;Wilson E;Sze R;Sharma K;Krieger A;Fricke S;Cleary K
• 通讯作者: Cleary K

MRI Robots for Needle-Based Interventions: Systems and Technology.

• DOI: 10.1007/s10439-018-2075-x
• 发表时间: 2018-10
• 期刊: Annals of biomedical engineering
• 影响因子: 3.8
• 作者: Monfaredi R;Cleary K;Sharma K
• 通讯作者: Sharma K