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（由申请人提供）：本提案的目标是开发和评估与敏感 MRI 成像线圈集成的患者安装的 MRI 兼容肩关节造影机器人。患者安装的机器人旨在为儿科关节造影提供新颖的工作流程。该提案消除了透视检查的需要，同时在 MRI 套件中提供精确的图像引导针放置，这是实现我们为儿科患者提供 MRI 引导、无辐射手术的长期目标的第一步。 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，虽然该提案主要针对儿科，但这里开发的技术也适用于成人手术。开发一种新颖的、定制设计的线圈阵列，该线圈阵列将安装在我们的 MRI 兼容机器人的底座内，并在基于针的干预期间实现肩关节的高分辨率成像 对于关节造影手术、线圈阵列和机器人。将使我们能够在 MRI 套件中完成手术，并消除透视检查的需要，这在儿科环境中尤其重要，因为人们越来越担心儿童辐射暴露的长期后果。目的： 1. 设计、构建和测试 MRI 线圈阵列，该线圈阵列可安装在国家儿童医疗中心开发的 MRI 兼容机器人的底座内。线圈阵列将采用新型集成巴伦方法构建，该方法具有低轮廓。对射频场不敏感2. 修改安装在身体上的机器人原型以适应新的线圈阵列。这些修改将包括机器人设计、更改机器人底座以适应线圈。注册基准 3. 在模型研究中使用拟人模型和火腿模型测试 MRI 套件中集成系统的瞄准精度，并根据需要进行设计改进并重复评估。

项目成果

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

用于基于针的干预的 MRI 机器人：系统和技术。

• 发表时间: 2018-10
• 影响因子: 3.8
• 作者: Monfaredi, Reza;Cleary, Kevin;Sharma, Karun
• 通讯作者: Sharma, Karun

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

用于 MRI 引导置针的肩部机器人的开发：模型研究。

• 发表时间: 2018-11
• 作者: Monfaredi, Reza;Iordachita, Iulian;Wilson, Emmanuel;Sze, Raymond;Sharma, Karun;Krieger, Axel;Fricke, Stanley;Cleary, Kevin
• 通讯作者: Cleary, Kevin