MRI-Guided Robotic Needle Positioning With Parallel Planar Stages
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current minimally invasive MRI-based needle positioning for spinal cord stem cell injections is inefficient due to the need for repeated patient removal and re-imaging, adding significant time and reducing accuracy.
Innovation Solution
An MRI-compatible robotic system with parallel plane mechanisms and piezoelectric actuators for precise needle positioning, utilizing visual servoing and super-resolution image reconstruction for enhanced accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual needle positioning with repeated patient removal and re-imaging is used, then the procedure can be performed with simple equipment, but the procedure time increases significantly and positioning accuracy is reduced
Solution Approach 1:
The patent combines the needle positioning system with the MRI imaging system, allowing the robot to be positioned and controlled within the MRI bore. This merging eliminates the need for repeated patient removal and re-imaging, as the robot can be adjusted and re-imaged in a single continuous procedure, thereby reducing total procedure time while maintaining manageable system complexity through integrated design
Solution Approach 2:
The patent introduces fiducial markers as intermediaries that are visible in both the MRI imaging system and the robot's coordinate system. These markers serve as a common reference frame that enables precise robot positioning and needle targeting without requiring complex real-time image processing or frequent re-imaging, thus improving productivity while keeping the system relatively simple
2Manufacturing precision
If manual needle positioning is used, then the system is simpler to operate, but the positioning accuracy and precision are insufficient for targeted spinal cord injections
Solution Approach 1:
The patent implements a feedback control system where the robot's position is continuously monitored using fiducial markers visible in MRI images. The system compares the actual needle position with the target position and automatically adjusts the robot's positioning to achieve the desired accuracy. This feedback mechanism enables high precision needle placement while the automated control reduces operational complexity
Solution Approach 2:
The patent replaces manual mechanical needle positioning with an automated robotic system that uses motorized actuators and computer control. This substitution enables precise positioning through controlled mechanical movement while the automated control system simplifies operation, allowing clinicians to initiate and monitor the procedure without manually adjusting the needle position
3Measurement precision
If repeated patient removal and re-imaging is performed, then the needle position can be adjusted, but the procedure time increases by over 90 minutes
Solution Approach 1:
The patent performs preliminary positioning of fiducial markers on the robot before the procedure begins. These markers establish a known reference frame that allows the robot to be precisely positioned and re-positioned within the MRI bore without requiring repeated patient removal. The preliminary setup enables subsequent quick adjustments and re-imaging, maintaining measurement precision while dramatically reducing the time loss associated with repeated patient handling
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 system achieves high-precision needle placement within 14 microns of the target, significantly reducing procedure time and improving workflow efficiency.
Implementation Method 1
The first mechanism and second mechanism can include piezoelectric actuators
Data Source
AI summary
An MRI-compatible robot including one or more fiducial markers, a first planar stage having a first joint configured to receive a surgical tool and a first mechanism configured to move the surgical tool, and a second planar stage having a second joint configured to receive the surgical tool and a second mechanism configured to move the surgical tool, wherein the second planar stage is generally parallel with the first planar stage.