Title

Shoulder-Mounted Robot for MRI-guided arthrography: Accuracy and mounting study

Document Type

Conference Proceeding

Publication Date

11-4-2015

Journal

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS

Volume

2015-November

DOI

10.1109/EMBC.2015.7319182

Abstract

© 2015 IEEE. A new version of our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot for MRI-guided arthrography procedures is introduced. This robot could convert the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to a one-stage procedure, all in the MRI suite. The results of a recent accuracy study are reported. A new mounting technique is proposed and the mounting stability is investigated using optical and electromagnetic tracking on an anthropomorphic phantom. Five volunteer subjects including 2 radiologists were asked to conduct needle insertion in 4 different random positions and orientations within the robot's workspace and the displacement of the base of the robot was investigated during robot motion and needle insertion. Experimental results show that the proposed mounting method is stable and promising for clinical application.

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