• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文学位 >Enabling technologies for MRI guided interventional procedures.
【24h】

Enabling technologies for MRI guided interventional procedures.

机译：MRI引导介入程序的辅助技术。

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This dissertation addresses topics related to developing interventional assistant devices for Magnetic Resonance Imaging (MRI). MRI can provide high-quality 3D visualization of target anatomy and surrounding tissue, but the benefits can not be readily harnessed for interventional procedures due to difficulties associated with the use of high-field (1.5T or greater) MRI. Discussed are potential solutions to the inability to use conventional mechatronics and the confined physical space in the scanner bore.;This work describes the development of two apparently dissimilar systems that represent different approaches to the same surgical problem---coupling information and action to perform percutaneous (through the skin) needle placement with MR imaging. The first system addressed takes MR images and projects them along with a surgical plan directly on the interventional site, thus providing in-situ imaging. With anatomical images and a corresponding plan visible in the appropriate pose, the clinician can use this information to perform the surgical action.;My primary research effort has focused on a robotic assistant system that overcomes the difficulties inherent to MR-guided procedures, and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot is a servo pneumatically operated automatic needle guide, and effectively guides needles under real-time MR imaging. This thesis describes development of the robotic system including requirements, workspace analysis, mechanism design and optimization, and evaluation of MR compatibility. Further, a generally applicable MR-compatible robot controller is developed, the pneumatic control system is implemented and evaluated, and the system is deployed in pre-clinical trials. The dissertation concludes with future work and lessons learned from this endeavor.
机译：本论文探讨与开发磁共振成像介入辅助设备有关的主题。 MRI可以提供目标解剖结构和周围组织的高质量3D可视化效果，但由于与使用高场（1.5T或更大）MRI相关的困难，因此无法容易地将益处用于介入手术。讨论了无法使用常规机电一体化装置和扫描仪孔中有限的物理空间的潜在解决方案;这项工作描述了两种明显不同的系统的开发，这些系统代表解决同一手术问题的不同方法-耦合信息和执行操作经皮（通过皮肤）MR成像针放置。所解决的第一个系统获取MR图像，并将其与手术计划一起直接投影到介入部位，从而提供原位成像。通过在适当的姿势下看到解剖图像和相应的计划，临床医生可以使用此信息来执行手术操作。；我的主要研究工作集中在机器人辅助系统上，该系统克服了MR引导程序固有的困难，并有望安全可靠地将前列腺内针头放置在封闭的高场MRI扫描仪内。该机器人是伺服气动自动导针器，可在实时MR成像下有效地导针。本文描述了机器人系统的开发，包括需求，工作空间分析，机制设计和优化以及MR兼容性评估。此外，开发了通用的兼容MR的机器人控制器，实施并评估了气动控制系统，并在临床前试验中部署了该系统。本论文以今后的工作和从这一努力中学到的教训作为结尾。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号