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

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Document pages: 6 pages

Abstract: This paper presents a method of navigating a surgical robot beyond theresolution of magnetic resonance imaging (MRI) by using a resolutionenhancement technique enabled by high-precision piezoelectric actuation. Thesurgical robot was specifically designed for injecting stem cells into thespinal cord. This particular therapy can be performed in a shorter time byusing a MRI-compatible robotic platform than by using a manual needlepositioning platform. Imaging resolution of fiducial markers attached to theneedle guide tubing was enhanced by reconstructing a high-resolution image frommultiple images with sub-pixel movements of the robot. The parallel-planedirect-drive needle positioning mechanism positioned the needle guide with ahigh spatial precision that is two orders of magnitude higher than typical MRIresolution up to 1 mm. Reconstructed resolution enhanced images were used tonavigate the robot precisely that would not have been possible by usingstandard MRI. Experiments were conducted to verify the effectiveness of theproposed enhanced-resolution image-guided intervention.

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