MRI-conditional robotic platforms have proved to be an effective approach for image-guided interventions. In this study, a computer-assisted, pneumatically actuated robot is designed, built, and tested for MRI-guided prostate cancer focal laser ablation (FLA). The robotic manipulator provides two active planar degrees of freedom (DoFs) by using a customized CoreXY frame and one passive rotational DoF. A remote insertion mechanism improves the surgical workflow by keeping the patients inside the scanner during needle insertion. The robotic manipulator is tested in a 3T MR scanner to evaluate its MR compliance, and the results demonstrated that the signal-to-noise ratio (SNR) variation is less than 8%. The in-scanner template positioning accuracy test demonstrates that the manipulator achieves high targeting accuracy with a mean error of 0.46 mm and a standard deviation of 0.25 mm. Phantom studies have shown that the needle insertion accuracy of the manipulator is within 2 mm (mean = 1.7 mm, standard deviation = 0.2 mm).

中文翻译：

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前列腺核磁共振引导激光烧蚀机器人系统

MRI条件机器人平台已被证明是图像引导干预的有效方法。在这项研究中，设计，建造并测试了计算机辅助气动机器人，以进行MRI引导的前列腺癌局灶性激光消融（FLA）。机器人操纵器通过使用定制的CoreXY框架和一个被动旋转DoF提供了两个主动平面自由度（DoF）。远程插入机制通过在针头插入过程中将患者保持在扫描仪内部来改善手术流程。该机器人操纵器在3T MR扫描仪中进行了测试，以评估其MR顺应性，结果表明信噪比（SNR）的变化小于8％。扫描仪内模板定位精度测试表明，该操纵器具有很高的瞄准精度，平均误差为0。46毫米，标准偏差为0.25毫米。幻影研究表明，机械手的针头插入精度在2毫米以内（平均值= 1.7毫米，标准偏差= 0.2毫米）。