title: A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography.
abstract: A novel compact and lightweight patient-mounted MRI-compatible robot has been designed for MRI image-guided interventions. This robot is intended to enable MRI-guided needle placement as done in shoulder arthrography. The robot could make needle placement more accurate and simplify the current workflow by converting the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to a one-stage procedure (streamlined workflow all in MRI suite). The robot has 4 degrees of freedom (DOF), two for orientation of the needle and two for needle positioning. The mechanical design was based on several criteria including rigidity, MRI compatibility, compact design, sterilizability, and adjustability. The proposed workflow is discussed and initial MRI compatibility experiments are presented. The results show that artifacts in the region of interest are minimal and that MRI images of the shoulder were not adversely affected by placing the robot on a human volunteer.
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA; Industrial Department, Azad University Sough Tehran Branch, Tehran, Iran.
authors.forename: R
authors.initials: R
authors.lastname: Monfaredi
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA.
authors.forename: R
authors.initials: R
authors.lastname: Seifabadi
authors.affiliation: Laboratory for Computational Sensing and Robotics (LCSR), John Hopkins University, 3400 N. Charles St. Baltimore MD 21218 USA.
authors.forename: I
authors.initials: I
authors.lastname: Iordachita
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA.
authors.forename: R
authors.initials: R
authors.lastname: Sze
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA.
authors.forename: N M
authors.initials: NM
authors.lastname: Safdar
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA.
authors.forename: K
authors.initials: K
authors.lastname: Sharma
authors.affiliation: Department of Diagnostic Imaging and Radiology, Children's National Medical center.
authors.forename: S
authors.initials: S
authors.lastname: Fricke
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA.
authors.forename: A
authors.initials: A
authors.lastname: Krieger
authors.affiliation: Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, 111 Michigan Ave. DC 20010 USA.
authors.forename: K
authors.initials: K
authors.lastname: Cleary