Image Guided High Precision Robotic Positioning in MRI for Medical Applications
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Martinez, Daniel Enrique
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Abstract
Magnetic Resonance Imaging (MRI) is a powerful diagnostic tool that offers advanced visualization of human tissue, increasingly used to guide medical procedures such as biopsies and interventions. Nevertheless, navigation in the MRI environment remains challenging due to material, actuator, and sensor restrictions as well as scan time and cost of use.
This work presents methods for ensuring high precision robotic positioning in MRI for use in emerging applications through three distinct aims. In the first aim, an MRI-analogous test bench implementing Position Sensitive Devices (PSDs) is established to measure the positioning performance of a previously developed MRI compatible robot, circumventing limitations of MRI resolution and scan time, validating the capability of MRI guided robot navigation methods. In the second aim, the validated high-precision navigation method is leveraged to enable the application of multi-image Super Resolution (SR) algorithms to construct enhanced resolution in-plane MRI slices, leading to improved positioning precision exceeding the limits of the native MRI resolution. In the third aim, a data-driven gain estimation control method is established to compensate for resistive forces and improve open-loop positioning accuracy when the robot end-effector navigates through a complex fluid medium. A novel acousto-optic sensor is integrated into the system to measure impacts of radio-frequency waves on temperature and e-field distribution around medical implants in MRI. Improved open-loop control reduces the number of MRI scans needed for high accuracy positioning, reducing experiment and procedure time, allowing for navigation to larger number of points and expanded data collection within a set time frame. These developments enable the assessment of medical implant safety in MRI through high accuracy positioning needed to properly understand dissipation of temperature and e-field around conductive structures.
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Date
2024-12-02
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Dissertation