Body-Mounted Parallel Robot for MRI-Guided Needle Alignment
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Solution Overview
Problem
Existing MR-based arthrography procedures involve multiple steps, including contrast injection followed by imaging, which can cause patient anxiety, radiation exposure, and increased healthcare costs, and existing surgical robotics devices struggle with maintaining alignment during patient movement.
Innovation Solution
A 4-degree-of-freedom parallel robot with a parallel architecture is designed for MRI-guided interventions, securely mounted on the patient, using MRI-compatible materials and actuators like piezoelectric motors to maintain alignment and facilitate concurrent imaging and surgical interventions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a two-step procedure (fluoroscopy-guided contrast injection followed by MRI) is used for arthrography, then the procedure can be completed with available equipment, but patient anxiety increases, radiation exposure occurs, and healthcare costs increase
Solution Approach 1:
The patent combines contrast injection and MRI imaging into a single integrated procedure using an MRI-compatible robotic system. The robot performs contrast injection directly under MRI guidance, eliminating the need for separate fluoroscopy imaging and reducing the procedure to one step, thereby eliminating radiation exposure and reducing patient anxiety
2Ease of operation
If existing surgical robotics devices are used, then surgical interventions can be performed, but alignment is lost during patient movement
Solution Approach 1:
The robotic system is designed to be mounted on the patient's body rather than being fixed externally. This dynamic mounting approach allows the robot to move with the patient, maintaining constant alignment between the robotic instruments and the target anatomical structures even during patient movement or positioning changes
Solution Approach 2:
The patient-mounted robotic system serves itself by being carried along with patient movement. The robot's base is attached to the patient's body, so when the patient moves or changes position, the entire robotic system moves accordingly, automatically maintaining alignment without requiring external repositioning or active correction
3Measurement precision
If multiple imaging and intervention steps are performed, then comprehensive diagnosis and treatment can be achieved, but procedure time increases and healthcare costs increase
Solution Approach 1:
The patent merges diagnostic imaging (MRI) and therapeutic intervention (contrast injection) into a single concurrent procedure. The robotic system allows the physician to perform contrast injection while MRI imaging continues, eliminating the need for separate imaging sessions and reducing total procedure time while maintaining comprehensive diagnostic capability
Solution Approach 2:
The procedure maintains continuous MRI imaging throughout the entire contrast injection process. Rather than stopping imaging to perform injection and then resuming, the system allows both actions to occur simultaneously and continuously, eliminating idle time and reducing overall procedure duration
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot ensures precise alignment and reduced inertial effects, minimizing misalignment issues and enabling safer, more efficient surgical procedures with reduced steps and exposure, thus improving patient comfort and reducing healthcare costs.
Implementation Method 1
using MRI-compatible materials and actuators like piezoelectric motors
Data Source
AI summary
A body mountable robot may include a set of stages disposed in a parallel configuration. The body mountable robot may include a set of actuating joints, wherein an actuating joint, of the set of actuating joints, is configured to rotate with respect to a corresponding stage of the set of stages. The body mountable robot may include at least one actuator, wherein the at least one actuator is configured to actuate at least one actuating joint of the set of actuating joints. The body mountable robot may include a set of scissor mechanisms, wherein a scissor mechanism, of the set of scissor mechanisms, that is coupled to the actuating joint, is supported by the corresponding stage, and wherein the scissor mechanism is configured to translate with respect to the corresponding stage.