CN121218950A - Robot in MRI guided interventions - Google Patents

Abstract

This paper discloses systems and methods related to novel robots for MRI-guided interventions, which are compatible with various MRI scanners, particularly low-field scanners with pinholes. The systems and methods disclosed herein allow for precise, minimally invasive procedures.

Description

Robot in MRI guided interventions

Cross reference

The present application claims the benefit of U.S. provisional application No. 63/462,914, filed on 4/28 of 2023, the disclosure of which is incorporated herein by reference in its entirety.

Background

Magnetic Resonance Imaging (MRI) is an imaging modality that provides excellent soft tissue contrast, high spatial resolution, and multi-planar volumetric imaging capabilities.

Disclosure of Invention

In one aspect, a robotic system is provided. In some embodiments, the robotic system includes an end effector configured to provide one or more percutaneous interventions, a base configured to fit inside a magnetic resonance scanner bore or to mount to a bed, and a parallel manipulator configured to connect the end effector to the base using a plurality of parallel kinematic chains.

In some embodiments, the parallel manipulator has three degrees of freedom (DOF).

In some embodiments, the one or more percutaneous interventions include biopsies or brachytherapy.

In some embodiments, the robotic system further comprises a plurality of pneumatic stepper motors configured to move the end effector.

In some embodiments, the driving force of the plurality of pneumatic stepper motors comprises compressed air.

In some embodiments, at least one of the plurality of parallel kinematic chains includes a proximal system connected to a distal system.

In some embodiments, the robotic system further comprises at least one sensor configured to identify a homing position of the end effector.

In some embodiments, the robotic system further comprises at least one optical sensor.

In some embodiments, the at least one optical sensor is configured to track output rotation of the plurality of pneumatic stepper motors.

In some embodiments, an additional degree of freedom is added to the robotic system for driving the device added to the end effector.

Other aspects and advantages of the present disclosure will become readily apparent to those skilled in the art from the following detailed description, wherein only illustrative embodiments of the present disclosure are shown and described. As will be realized, the present disclosure is capable of other different embodiments and its several details are capable of modification in various obvious respects, all without departing from the disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Incorporation by reference

All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference.

Drawings

The novel features of the disclosure are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present disclosure will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the disclosure are utilized, and the accompanying drawings (also referred to herein as "drawings" and "figures"), in which:

fig. 1 illustrates an isometric view of an exemplary MRI system according to some embodiments.

Fig. 2 illustrates a schematic diagram of an MRI system according to some embodiments.

Fig. 3 illustrates a side view of an exemplary shaft transmitting motion from an actuator to a kinematic chain according to some embodiments.

Fig. 4 illustrates a front view of an exemplary pneumatic stepper motor according to some embodiments.

Fig. 5 illustrates a side view of an exemplary MRI system in another configuration according to some embodiments.

Fig. 6 illustrates a perspective view of an exemplary robot inside a low-field MRI system, according to some embodiments.

FIG. 7 illustrates a perspective view of an exemplary robot inside a low-field MRI system with a portion of a scanner cut out for better viewing in accordance with some embodiments.

Detailed Description

The present disclosure relates to medical devices. More particularly, the present disclosure relates to a robotic system made of medical imaging security material that may be used to perform MRI-guided diagnostic procedures and minimally invasive therapeutic interventions.

Magnetic Resonance Imaging (MRI) is an imaging modality that provides excellent soft tissue contrast, high spatial resolution, and multi-planar volumetric imaging capabilities. In some cases, a human body mounted robot with fluid driven actuators was developed to position a needle for biopsy or RF ablation. However, the system may use manual placement on the patient and manual coarse positioning based on guidance of the initial MRI dataset. The interventionalist may also manually place the needle outside the hole. Another system is an MRI compatible surgical robot that can perform microsurgery and stereotactic surgery for brain and spinal surgery. The robot may use MRI imaging to guide surgical instruments and provide real-time feedback to the surgeon. A parallel robot for prostate biopsy is manufactured to track and steer the needle to reach a target behind an obstacle.

These systems may use MRI to guide surgical instruments, providing feedback to the surgeon and allowing for accurate minimally invasive procedures. The method can reduce the risk of complications, shorten recovery time, and improve patient outcome. Moreover, these systems can reduce the time required for the procedure and minimize the need for additional diagnostic imaging such as CT or ultrasound.

Image-guided robotic assistance may promote clinical outcome by facilitating more accurate, less invasive, and more efficient interventions, reducing procedure infections, and utilizing feedback based on medical imaging. Another advantage of MRI-guided robotic-assisted intervention may be its potential to reduce procedure time. During standard procedures, the patient may be moved out of the hole for intervention and back into the hole for imaging. However, robots designed to perform interventions within MRI bores may perform interventions and imaging simultaneously, thereby reducing time while improving results. Additionally, MRI-guided robotic-assisted interventions may significantly improve ergonomics. Manual intervention in closed bore scanners can often be challenging.

Although MRI imaging provides high quality visual information during interventions, it may be limited for conventional interventions and robot-assisted interventions. In some cases, spatial constraints inside the MRI bore restrict access to the patient during imaging, such that using a robotic system that needs to fit in the remaining space between the patient and MRI is challenging. Moreover, the magnetic field may prevent the use of metal-based materials for robotic systems.

From another perspective, the medical gap between developed and developing countries may increase interest in low-field MRI, which, although not producing high quality images, may provide helpful diagnostic information. However, research of MRI-guided interventions may be performed in double-sided ring magnets (double-doughnut magnet), which may be difficult to achieve in low-field MRI scanners.

Disclosed herein are systems and methods related to a novel robot for MRI guided interventions that are compatible with different MRI scanners, particularly low-field scanners with small holes. The systems and methods disclosed herein may allow for accurate minimally invasive procedures.

Disclosed herein is a robotic system that can be adapted for several interventional medical devices. Such medical devices may include, but are not limited to, various end effectors for different percutaneous interventions such as biopsies or brachytherapy. In some cases, the robot is configured for use with an MRI device (including a low field MRI scanner). The challenges of robot-assisted MRI-guided interventions may stem from electromagnetic compatibility caused by MRI environments and space limitations caused by typical closed bore geometries. Bi-directional MRI compatibility may ensure that the device and scanner do not affect each other's function.

The disclosed robot may achieve dimensional accessibility within a closed bore tunnel scanner. The robot may be constructed of materials compatible with the operating environment associated with MRI, such as, but not limited to, non-magnetic and dielectric materials such as plastics (e.g., polymers, ceramics, porcelain, metal oxides, rubber, and other similar materials), or any combination thereof.

The robot may use high torque and high resolution pneumatic stepper motors to move the end effector. The driving force of these motors may be compressed air. An optical sensor may be used to track the output rotation of the motor. The present robot may be configured and arranged such that the robot is capable of being placed and traveling within the bore of an MRI scanner.

According to some embodiments, the developed robot may include a parallel manipulator with three degrees of freedom (DOF), where the base platform of the robot is connected to a common plate/end effector by three identical parallel kinematic chains, as shown in fig. 1. Manipulator 100 may include a base 102, three identical kinematic chains 104, and an end effector 106. When the end effector 106 is parallel to the base 102, the robot may be in its home position. The base 102 may be designed to fit inside the scanner bore and may match the shape of the bore. Also shown in fig. 1 are a sensor 108 for the home position of the end effector 106, a geometric center 110 of the manipulator 100, and a rounded internal hex mechanism 112.

As shown in fig. 2, according to some embodiments, each kinematic chain may include a proximal system 122 connected to a distal system 124 by a free-rotating joint 126. The top cover of the robotic manipulator 100 is removed to show an internal view of the system. One of the main features of the robot is that the base 102 includes four collinear actuators. On each kinematic chain, one fixed actuated rotary joint 120 and two free rotary joints 126 may connect the proximal system 122 and the distal system 124 with the end effector 106. Three free rotary joints 126 may connect the distal system 124 with the end effector 106. Three rotating motors may actuate the proximal system 122 on the base 102. The manipulator 100 may provide three rotational DOFs, roll, pitch and yaw. Fig. 2 also shows an air inlet 114, an optical sensor 116, and a high torque and high resolution pneumatic stepper motor 118.

One key feature of the parallel manipulator may be that the axes of rotation of all joints may intersect at a common point referred to as the geometric center 110 of the manipulator 100. The geometric center 110 may be a point at which each end effector element rotates about.

Another feature of the robot is that the base may contain four collinear actuators (fig. 2). According to some embodiments, the shaft 128 that transmits motion from the actuator to the kinematic chain may be designed to be hollow, to enable the configuration of collinear actuators (fig. 3). Referring to fig. 3, in some cases, the shaft 128 that transmits motion from the actuator to the kinematic chain is designed to be hollow to enable the configuration of collinear actuators. The actuator shaft 130 for driving any means added to the end effector 106 may also be designed to be hollow. It should be noted that according to some embodiments, the central axis of the actuator of the high torque and high resolution pneumatic stepper motor 118 may be designed to be hollow and/or may have a hole 132 (fig. 4).

The robot base may have three fiber optic sensors to home the proximal system. The end effector 106 may be parallel to the base as the three proximal systems rotate and each move in front of one fiber optic sensor 116. The position may be a homing position of the robot.

An additional DOF may be added to the system for driving any device added to the end effector. The output of the fourth actuator may extend to a geometric center on the end effector. This rotational movement on the end effector can be translated into any desired movement. Because the end effector can rotate about the yaw, pitch, and yaw axes, the rounded nose hexagon mechanism 112 can be configured to transmit rotation to the device (fig. 1). The mechanism may comprise a cylindrical tool having a hexagonal shape at one end, which may fit into the sleeve of the driven member. The fiber optic sensor 116 may be placed on the end effector to home the added device.

The base of the robot may be designed in different shapes and sizes to fit inside the scanner bore or to fit on the patient bed. Adjusting the position of the robot inside the hole may add another DOF to the system. The shape of the end effector can also be modified to hold any desired device.

For driving the robot, a tube bundle, optical fibers, pneumatic air distributors, electrical circuits, robot controllers or any combination thereof may be used. The instrument may be placed remotely from the magnetic field. The apparatus can be reliably operated within an MRI system environment.

Fig. 5 illustrates a side view of the robotic manipulator system 100 in an example random configuration other than a home position, according to some embodiments. In some embodiments described herein, each element of the end effector rotates about the geometric center 110 of the robot. The end effector 106 may be parallel to the base as the three proximal systems rotate and each moves in front of one of the homing sensors 108 for homing the end effector 106. This position may be referred to as a homing position of the robot.

Fig. 6 illustrates a perspective view of the robotic manipulator 100 inside a low-field MRI scanner system 200, according to some embodiments. Since the robot system is shaped like a hole, it can be easily moved in the hole. The robotic system may also be fixed inside the hole.

Fig. 7 illustrates a perspective view of the robotic manipulator 100 inside a low-field MRI scanner system 200, with a portion of the scanner cut out for better viewing, according to some embodiments.

Definition of the definition

Unless defined otherwise, all technical and scientific terms or specialized terms used herein are intended to have the meanings commonly understood by one of ordinary skill in the art to which the claimed subject matter belongs. In some cases, terms with commonly understood meanings are defined herein for clarity and/or for ready reference, and the inclusion of such definitions herein should not necessarily be construed to represent a substantial difference from the commonly understood meaning in the art.

In the present application, various embodiments may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as limiting the scope of the present disclosure. Accordingly, the description of a range should be considered to have specifically disclosed all possible sub-ranges as well as individual values within that range. For example, descriptions of ranges such as from 1 to 6 should be considered as having specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within the range, e.g., 1,2, 3, 4,5, and 6. This applies to all ranges of widths.

The scope of the disclosure herein also encompasses any and all overlapping portions, sub-ranges, and combinations thereof. Language such as "up to", "at least", "greater than", "less than", "between", and the like, includes such numbers. As used herein, a number following a term such as "about," "about," and "substantially" encompasses the number and also represents an amount approaching the number that still performs the intended function or achieves the intended result. The term "about" or "approximately" may mean within an acceptable error range for a particular value that will depend in part on the manner in which the value is measured or determined, such as the limitations of the measurement system. For example, the terms "about," "about," and "substantially" may refer to an amount that is within less than 10% of the amount, within less than 5% of the amount, within less than 1% of the amount, within less than 0.1% of the amount, and within less than 0.01% of the amount. For example, "about" may mean within 1 or more than 1 standard deviation, as is conventional in the art. Or "about" may mean a range of up to 20%, up to 10%, up to 5%, or up to 1% of a given value. As used herein, the term "about" a number refers to the number plus or minus 10% of the number. The term "about" a range refers to that range minus 10% of its minimum value and plus 10% of its maximum value. Where a particular value is described in the present disclosure and claims, unless otherwise indicated, the term "about" may be assumed to mean within an acceptable error range for the particular value.

As used in the specification and in the claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. For example, the term "a sample" includes a plurality of samples, including mixtures thereof.

The terms "determining," "measuring," "evaluating," "determining," and "analyzing" are often used interchangeably herein to refer to a form of measurement. The term includes determining whether an element is present (e.g., detecting). These terms may include quantitative, qualitative, or both quantitative and qualitative determinations. The evaluation may be relative or absolute. "detecting the presence of a. In addition to determining whether something is present or not, the amount of its presence may also be determined from the context.

The terms "subject," "individual," or "patient" are often used interchangeably herein. A "subject" may be a biological entity that comprises expressive genetic material. The biological entity may be a plant, animal or microorganism, including, for example, bacteria, viruses, fungi, and protozoa. The subject may be a tissue, a cell, and derivatives thereof of a biological entity obtained in vivo or cultured in vitro. The subject may be a mammal. The mammal may be a human. The subject may be diagnosed with a disease or suspected of having a high risk of suffering from a disease. In some cases, the subject is not necessarily diagnosed with the disease or is suspected of having a high risk of suffering from the disease.

The section headings used herein are for organizational purposes only and are not to be construed as limiting the subject matter described.

While preferred embodiments of the present disclosure have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the disclosure. It should be understood that various alternatives to the embodiments of the disclosure described herein may be employed in practicing the disclosure. The following claims are intended to define the scope of the invention and their methods and structures within the scope of these claims and their equivalents are thereby covered.

Claims (10)

1. A robot system, comprising: An end effector configured to provide one or more percutaneous interventions; A base configured to fit inside the aperture of a magnetic resonance scanner or be mounted to a bed; and A parallel manipulator configured to connect the end effector to the base using multiple parallel kinematic chains. 2. The robot system of claim 1, wherein the parallel manipulator has three degrees of freedom (DOF). 3. The robotic system according to any one of claims 1 to 2, wherein the single or multiple percutaneous interventions include biopsy or brachytherapy. 4. The robot system according to any one of claims 1 to 3, further comprising a plurality of pneumatic stepper motors configured to move the end effector. 5. The robot system of claim 4, wherein the driving force of the plurality of pneumatic stepper motors comprises compressed air. 6. The robot system according to any one of claims 1 to 5, wherein at least one of the plurality of parallel kinematic chains includes a proximal system connected to the distal system. 7. The robot system according to any one of claims 1 to 6, further comprising at least one sensor configured to identify the homing position of the end effector. 8. The robot system according to any one of claims 1 to 7, further comprising at least one optical sensor. 9. The robot system of claim 8, wherein the at least one optical sensor is configured to track the output rotation of a plurality of pneumatic stepper motors. 10. The robot system according to any one of claims 1 to 9, wherein an additional degree of freedom is added to the robot system for driving means added to the end effector.