Resolution-Enhanced MRI-Guided Navigation of Spinal Cellular Injection Robot

TL;DR

This paper introduces a high-precision MRI-guided robotic system for spinal cell injections, using a novel resolution enhancement technique to surpass MRI limitations and improve surgical accuracy.

Contribution

It presents a resolution enhancement method enabling MRI-guided robotic navigation beyond standard MRI resolution limits using high-precision piezoelectric actuation.

Findings

Enhanced imaging resolution from multiple sub-pixel shifted images.

High-precision needle positioning surpassing MRI resolution.

Successful verification through experimental validation.

Abstract

This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was specifically designed for injecting stem cells into the spinal cord. This particular therapy can be performed in a shorter time by using a MRI-compatible robotic platform than by using a manual needle positioning platform. Imaging resolution of fiducial markers attached to the needle guide tubing was enhanced by reconstructing a high-resolution image from multiple images with sub-pixel movements of the robot. The parallel-plane direct-drive needle positioning mechanism positioned the needle guide with a high spatial precision that is two orders of magnitude higher than typical MRI resolution up to 1 mm. Reconstructed resolution enhanced images were used to navigate the robot precisely that would not have been possible by using standard MRI. Experiments were conducted to verify the effectiveness of the proposed enhanced-resolution image-guided intervention.