Resolution-Enhanced MRI-Guided Navigation of Spinal Cellular Injection Robot
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was specifically designed for injecting stem cells into the spinal cord. This particular therapy can be performed in a shorter time by using a MRI-compatible robotic platform than by using a manual needle positioning platform. Imaging resolution of fiducial markers attached to the needle guide tubing was enhanced by reconstructing a high-resolution image from multiple images with sub-pixel movements of the robot. The parallel-plane direct-drive needle positioning mechanism positioned the needle guide with a high spatial precision that is two orders of magnitude higher than typical MRI resolution up to 1 mm. Reconstructed resolution enhanced images were used to navigate the robot precisely that would not have been possible by using standard MRI. Experiments were conducted to verify the effectiveness of the proposed enhanced-resolution image-guided intervention.
Code (0)
등록된 구현이 없습니다.
Tasks
NavigateSimilar Papers 제목 키워드 기반
S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constrai…
Image-Guided Navigation of a Robotic Ultrasound Probe for Autonomous Spinal Sonography Using a Shadow-aware Dual-Agent Framework
Ultrasound (US) imaging is commonly used to assist in the diagnosis and interventions of spine diseases, while the standardized US acquisitions performed by manually operating the probe require substantial experience and…
AnatomyDecision MakingNavigateReinforcement Learning (RL)Coordinating Spinal and Limb Dynamics for Enhanced Sprawling Robot Mobility
Among vertebrates, salamanders, with their unique ability to transition between walking and swimming gaits, highlight the role of spinal mobility in locomotion. A flexible spine enables undulation of the body through a w…
Deep Reinforcement LearningFriction3D-LLDM: Label-Guided 3D Latent Diffusion Model for Improving High-Resolution Synthetic MR Imaging in Hepatic Structure Segmentation
Deep learning and generative models are advancing rapidly, with synthetic data increasingly being integrated into training pipelines for downstream analysis tasks. However, in medical imaging, their adoption remains cons…
Data AugmentationSpinalSAM-R1: A Vision-Language Multimodal Interactive System for Spine CT Segmentation
The anatomical structure segmentation of the spine and adjacent structures from computed tomography (CT) images is a key step for spinal disease diagnosis and treatment. However, the segmentation of CT images is impeded …
Image Segmentation