mri引导的脊髓细胞注射机器人的超分辨率定位改进

J. Medical Robotics Res. Pub Date : 2021-04-12 DOI:10.1142/S2424905X2140002X

D. E. Martinez, Waiman Meinhold, J. Oshinski, Ai-Ping Hu, J. Ueda

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引用次数: 2

摘要

本文介绍了一种用于脊髓细胞注射的磁共振成像(MRI)条件针定位机器人的研制。利用线性压电作动器的高精度、平行平面、针状定向机构与多平面磁共振成像的迭代超分辨率视觉导航算法相结合，实现了高精度瞄准性能。在之前的工作中，作者开发了一种MRI条件机器人，其定位性能超过了MRI的标准分辨率，使MRI分辨率成为导航的极限。本文进一步探讨了SR在机器人导航图像中的应用，通过模拟和实验在台式和MRI实验中评估定位性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Super Resolution for Improved Positioning of an MRI-Guided Spinal Cellular Injection Robot

This paper presents the development of a magnetic resonance imaging (MRI)-conditional needle positioning robot designed for spinal cellular injection. High-accuracy targeting performance is achieved by the combination of a high precision, parallel-plane, needle-orientation mechanism utilizing linear piezoelectric actuators with an iterative super-resolution (SR) visual navigation algorithm using multi-planar MR imaging. In previous work, the authors have developed an MRI conditional robot with positioning performance exceeding the standard resolution of MRI, rendering the MRI resolution the limit for navigation. This paper further explores the application of SR to images for robot guidance, evaluating positioning performance through simulations and experimentally in benchtop and MRI experiments.

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J. Medical Robotics Res.

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