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Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies

This paper presents an intraoperative MRI-guided, patient-mounted robotic system for shoulder arthrography procedures in pediatric patients. The robot is designed to be compact and lightweight and is constructed with nonmagnetic materials for MRI safety. Our goal is to transform the current two-step...

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Autores principales: Patel, Niravkumar, Yan, Jiawen, Li, Gang, Monfaredi, Reza, Priba, Lukasz, Donald-Simpson, Helen, Joy, Joyce, Dennison, Andrew, Melzer, Andreas, Sharma, Karun, Iordachita, Iulian, Cleary, Kevin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8141739/
https://www.ncbi.nlm.nih.gov/pubmed/34041276
http://dx.doi.org/10.3389/frobt.2021.667121
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author Patel, Niravkumar
Yan, Jiawen
Li, Gang
Monfaredi, Reza
Priba, Lukasz
Donald-Simpson, Helen
Joy, Joyce
Dennison, Andrew
Melzer, Andreas
Sharma, Karun
Iordachita, Iulian
Cleary, Kevin
author_facet Patel, Niravkumar
Yan, Jiawen
Li, Gang
Monfaredi, Reza
Priba, Lukasz
Donald-Simpson, Helen
Joy, Joyce
Dennison, Andrew
Melzer, Andreas
Sharma, Karun
Iordachita, Iulian
Cleary, Kevin
author_sort Patel, Niravkumar
collection PubMed
description This paper presents an intraoperative MRI-guided, patient-mounted robotic system for shoulder arthrography procedures in pediatric patients. The robot is designed to be compact and lightweight and is constructed with nonmagnetic materials for MRI safety. Our goal is to transform the current two-step arthrography procedure (CT/x-ray-guided needle insertion followed by diagnostic MRI) into a streamlined single-step ionizing radiation-free procedure under MRI guidance. The MR-conditional robot was evaluated in a Thiel embalmed cadaver study and healthy volunteer studies. The robot was attached to the shoulder using straps and ten locations in the shoulder joint space were selected as targets. For the first target, contrast agent (saline) was injected to complete the clinical workflow. After each targeting attempt, a confirmation scan was acquired to analyze the needle placement accuracy. During the volunteer studies, a more comfortable and ergonomic shoulder brace was used, and the complete clinical workflow was followed to measure the total procedure time. In the cadaver study, the needle was successfully placed in the shoulder joint space in all the targeting attempts with translational and rotational accuracy of 2.07 ± 1.22 mm and 1.46 ± 1.06 degrees, respectively. The total time for the entire procedure was 94 min and the average time for each targeting attempt was 20 min in the cadaver study, while the average time for the entire workflow for the volunteer studies was 36 min. No image quality degradation due to the presence of the robot was detected. This Thiel-embalmed cadaver study along with the clinical workflow studies on human volunteers demonstrated the feasibility of using an MR-conditional, patient-mounted robotic system for MRI-guided shoulder arthrography procedure. Future work will be focused on moving the technology to clinical practice.
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spelling pubmed-81417392021-05-25 Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies Patel, Niravkumar Yan, Jiawen Li, Gang Monfaredi, Reza Priba, Lukasz Donald-Simpson, Helen Joy, Joyce Dennison, Andrew Melzer, Andreas Sharma, Karun Iordachita, Iulian Cleary, Kevin Front Robot AI Robotics and AI This paper presents an intraoperative MRI-guided, patient-mounted robotic system for shoulder arthrography procedures in pediatric patients. The robot is designed to be compact and lightweight and is constructed with nonmagnetic materials for MRI safety. Our goal is to transform the current two-step arthrography procedure (CT/x-ray-guided needle insertion followed by diagnostic MRI) into a streamlined single-step ionizing radiation-free procedure under MRI guidance. The MR-conditional robot was evaluated in a Thiel embalmed cadaver study and healthy volunteer studies. The robot was attached to the shoulder using straps and ten locations in the shoulder joint space were selected as targets. For the first target, contrast agent (saline) was injected to complete the clinical workflow. After each targeting attempt, a confirmation scan was acquired to analyze the needle placement accuracy. During the volunteer studies, a more comfortable and ergonomic shoulder brace was used, and the complete clinical workflow was followed to measure the total procedure time. In the cadaver study, the needle was successfully placed in the shoulder joint space in all the targeting attempts with translational and rotational accuracy of 2.07 ± 1.22 mm and 1.46 ± 1.06 degrees, respectively. The total time for the entire procedure was 94 min and the average time for each targeting attempt was 20 min in the cadaver study, while the average time for the entire workflow for the volunteer studies was 36 min. No image quality degradation due to the presence of the robot was detected. This Thiel-embalmed cadaver study along with the clinical workflow studies on human volunteers demonstrated the feasibility of using an MR-conditional, patient-mounted robotic system for MRI-guided shoulder arthrography procedure. Future work will be focused on moving the technology to clinical practice. Frontiers Media S.A. 2021-05-10 /pmc/articles/PMC8141739/ /pubmed/34041276 http://dx.doi.org/10.3389/frobt.2021.667121 Text en Copyright © 2021 Patel, Yan, Li, Monfaredi, Priba, Donald-Simpson, Joy, Dennison, Melzer, Sharma, Iordachita and Cleary. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Patel, Niravkumar
Yan, Jiawen
Li, Gang
Monfaredi, Reza
Priba, Lukasz
Donald-Simpson, Helen
Joy, Joyce
Dennison, Andrew
Melzer, Andreas
Sharma, Karun
Iordachita, Iulian
Cleary, Kevin
Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies
title Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies
title_full Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies
title_fullStr Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies
title_full_unstemmed Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies
title_short Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies
title_sort body-mounted robotic system for mri-guided shoulder arthrography: cadaver and clinical workflow studies
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8141739/
https://www.ncbi.nlm.nih.gov/pubmed/34041276
http://dx.doi.org/10.3389/frobt.2021.667121
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