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Image Guided High Precision Robotic Positioning in MRI or Medical Applications
Image Guided High Precision Robotic Positioning in MRI or Medical Applications
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20260202105510
- ISBN
- 9798263330132
- DDC
- 006.42
- 서명/저자
- Image Guided High Precision Robotic Positioning in MRI or Medical Applications
- 발행사항
- [Sl] : Georgia Institute of Technology, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 108 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 87-05, Section: B.
- 주기사항
- Advisor: Ueda, Jun.
- 학위논문주기
- Thesis (Ph.D.)--Georgia Institute of Technology, 2024.
- 초록/해제
- 요약Magnetic 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.Chapter 1 will describe the motivations and background for this work.Chapter 2 will detail the evaluation of an MRI guided 4 DOF needle guide positioning robot for medical applicationsChapter 3 will discuss the application of super resolution image algorithms for high precision MRI guided positioning.Chapter 4 will discuss the establishment of a data-based control method for robotic navigation through a gel phantom for safety assessment of medical implantsChapter 5 will conclude the document and propose future work to enhance and extend the reported results.
- 일반주제명
- Scanners
- 일반주제명
- Pacemakers
- 일반주제명
- Medical research
- 일반주제명
- Robots
- 일반주제명
- Medical equipment
- 일반주제명
- Tissues
- 일반주제명
- Spinal cord
- 일반주제명
- Visualization
- 일반주제명
- Robotics
- 일반주제명
- Medical imaging
- 일반주제명
- Medicine
- 기본자료저록
- Dissertations Abstracts International. 87-05B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008260126s2024 us c eng d■001000017360345
■00520260202105510
■006m o d
■007cr#unu||||||||
■020 ▼a9798263330132
■035 ▼a(MiAaPQ)AAI32308290
■035 ▼a(MiAaPQ)GeorgiaTech76911
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a006.42
■1001 ▼aMartinez, Daniel Enrique.
■24510▼aImage Guided High Precision Robotic Positioning in MRI or Medical Applications
■260 ▼a[Sl]▼bGeorgia Institute of Technology▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a108 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 87-05, Section: B.
■500 ▼aAdvisor: Ueda, Jun.
■5021 ▼aThesis (Ph.D.)--Georgia Institute of Technology, 2024.
■520 ▼aMagnetic 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.Chapter 1 will describe the motivations and background for this work.Chapter 2 will detail the evaluation of an MRI guided 4 DOF needle guide positioning robot for medical applicationsChapter 3 will discuss the application of super resolution image algorithms for high precision MRI guided positioning.Chapter 4 will discuss the establishment of a data-based control method for robotic navigation through a gel phantom for safety assessment of medical implantsChapter 5 will conclude the document and propose future work to enhance and extend the reported results.
■590 ▼aSchool code: 0078.
■650 4▼aScanners
■650 4▼aPacemakers
■650 4▼aMagnetic resonance imaging
■650 4▼aMedical research
■650 4▼aRobots
■650 4▼aMedical equipment
■650 4▼aTissues
■650 4▼aSpinal cord
■650 4▼aVisualization
■650 4▼aRobotics
■650 4▼aMedical imaging
■650 4▼aMedicine
■690 ▼a0771
■690 ▼a0574
■690 ▼a0564
■71020▼aGeorgia Institute of Technology.
■7730 ▼tDissertations Abstracts International▼g87-05B.
■790 ▼a0078
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17360345▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
