An MR-Conditional Needle Driver for Robot-Assisted Spinal Injections: Design Modifications and Evaluations

Overview

Journal Annu Int Conf IEEE Eng Med Biol Soc

Specialty Biomedical Engineering

Date 2022 Sep 10

PMID 36086159

Authors

Yanzhou Wang

Guanyun Liu

Gang Li

Kevin Cleary

Iulian Iordachita

Affiliations

Soon will be listed here.

Abstract

This paper introduces design modifications to our MR-Conditional, 2-degree-of-freedom (DOF), remotely-actuated needle driver for MRI-guided spinal injections. The new needle driver should better meet cleaning and sterilization guidelines needed for regulatory approval, preserve the sterile field during intraoperative needle attachment, and offer better ergonomics and intuitiveness when handling the device. Dy-namic and static force and torque required to properly install the needle driver onto our 4-DOF robot base are analyzed, which provide insight into the risks of intraoperative tool attachment in the setting of robot-assisted spinal injections under MRI guidance.

Citing Articles

EVALUATION OF NEEDLE DRIVER DESIGNS FOR ROBOT-ASSISTED NEEDLE INSERTIONS UNDER MRI GUIDANCE.

Liu G, Wang Y, Li G, Cleary K, Iordachita I Int Mech Eng Congress Expo. 2023; 4.

PMID: 37408734 PMC: 10321559. DOI: 10.1115/IMECE2022-96678.

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