Learning-Based Rapid Phase-Aberration Correction and Control for Robot-Assisted MRI-Guided Low-/High-Intensity Focused Ultrasound Treatments

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Jing Dai, Xiaomei Wang, Bohao Zhu, Liyuan Liang, Hing-Chiu Chang, James Lam, Xiaochen Xie, Ka-Wai Kwok
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Abstract

Magnetic resonance imaging (MRI)-guided focused ultrasound (MRg-FUS) is an effective and noninvasive procedure for treating diseases such as neurological disorders. Phase adjustment on ultrasound transducers can only achieve a limited focal-spot steering range. When treating large abdominopelvic targets, mechanical adjustment on the transducers' position and orientation is the prerequisite for enlarging the steering range. Therefore, we previously designed an MRI-guided robot to manipulate the transducers to offer sufficient focal-spot movement range. This could provide more modulation solutions to constructive ultrasound interference. However, full-wave ultrasound propagation inside a patient's heterogeneous abdominal media is complex and nonlinear, posing significant challenges in ultrasound modulation and beam motion control. Here, we propose a novel learning-based phase-aberration correction and model-free control framework for robot-assisted MRg-FUS treatments. The correction policy guarantees rapid aberration compensation within 5.0 ms. Submillimeter refocusing accuracy is achieved in both the liver (0.32 mm) and pancreas (0.51 mm), meeting clinical requirements for focal targeting. Our controller can accommodate nonlinear phase actuation with fast convergence (< 5.7 ms) and ensure accurate positional tracking with a mean error of 0.26 mm, without prior knowledge of inhomogeneous media. Compared with the conventional model-based method, it contributes to 61.77%–70.39% mean error reduction without requiring model parameter tuning.

Abstract Image

基于学习的机器人辅助mri引导低/高强度聚焦超声治疗的快速相位像差校正和控制
磁共振成像(MRI)引导聚焦超声(MRg-FUS)是治疗神经系统疾病等疾病的一种有效且无创的方法。超声换能器的相位调节只能实现有限的焦点转向范围。在治疗大骨盆靶时,机械调节换能器的位置和方向是扩大转向范围的前提。因此,我们之前设计了一个mri引导的机器人来操纵换能器,以提供足够的焦点运动范围。这可以为建设性超声干扰提供更多的调制解决方案。然而,全波超声在患者异质性腹部介质中的传播是复杂和非线性的,这对超声调制和波束运动控制提出了重大挑战。在这里,我们提出了一种新的基于学习的相位像差校正和无模型控制框架,用于机器人辅助的mri - fus治疗。校正策略保证在5.0 ms内快速补偿像差。肝脏(0.32 mm)和胰腺(0.51 mm)的再聚焦精度均达到亚毫米级,满足临床对焦点瞄准的要求。我们的控制器可以适应快速收敛的非线性相位驱动(< 5.7 ms),并确保精确的位置跟踪,平均误差为0.26 mm,而无需事先了解非均匀介质。与传统的基于模型的方法相比,在不需要模型参数整定的情况下,平均误差降低61.77% ~ 70.39%。
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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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