基于图像质量评价的手术机器人系统磁共振兼容性分析方法

doi:10.11938/cjmr20223006

摘要/Abstract

摘要：

为保证手术安全及操作精度，基于磁共振图像导航的手术机器人系统需具备磁共振设备兼容性. 针对这一问题，本文提出了基于磁共振图像质量评价的手术机器人系统磁共振设备兼容性分析方法，扩展了图像数据集，并结合图像信噪比、图像变化因数、磁共振图像畸变量等评价参数，逐一分析机器人系统组件通电、机器人系统运动对磁共振图像质量产生的影响，建立图像质量评价依据. 实验结果表明，该质量评价方法可充分分析手术机器人及其系统组件的磁共振兼容性，且可为医疗手术机器人系统组件的磁共振兼容性分析提供测试方法与理论依据.

关键词: 磁共振成像, 磁共振兼容性, 图像质量评价, 信噪比, 手术机器人

Abstract:

To ensure the safety and precision of surgery, the robotic system applied in magnetic resonance (MR) image-guided robot-assisted surgery should be MR-compatible. In terms of this issue, a MR compatibility analysis method for surgical robotic system based on image quality evaluation is proposed in this paper, and the image sets are extended. The image quality evaluation model is constructed by combining evaluation parameters such as signal-to-noise ratio of MR images, image change factor and MR image distortion. The model can analyze the effect of the robot component and robot motion on image quality, forming a basis for image quality evaluation. The experimental results show that the image quality evaluation method can fully analyze the MR compatibility of the robotic system component, and provide an evaluative method and theoretical basis for the MR compatibility analysis of other kinds of medical robotic systems.

Key words: magnetic resonance imaging (MRI), magnetic resonance compatibility, image quality evaluation, signal-to-noise ratio, surgical robot

中图分类号:

李盼,房德磊,张峻霞,马得贝. 基于图像质量评价的手术机器人系统磁共振兼容性分析方法[J]. 波谱学杂志, 2023, 40(1): 79-91.

LI Pan,FANG Delei,ZHANG Junxia,MA Debei. Magnetic Resonance Compatibility Analysis Method of Surgical Robotic System Based on Image Quality Evaluation[J]. Chinese Journal of Magnetic Resonance, 2023, 40(1): 79-91.

图/表 10

表1

图1

图2

表2

图3

图4

图5

图6

图7

图8

参考文献 21

[1]	XU W Z, WANG C J, MA Y M, et al. Advances in magnetic resonance imaging guided radiation therapy[J]. Journal of Biomedical Engineering, 2021, 38(1): 161-168.
	许文哲, 王长建, 马一鸣, 等. 核磁共振图像引导的放疗技术进展[J]. 生物医学工程学杂志, 2021, 38(1): 161-168.
[2]	LI Y Z, ZHANG Z, CHEN Q R, et al. A novel method for magnetic resonance ocular imaging using super-resolution reconstruction[J]. Chinese J Magn Reson, 2017, 34(4): 439-452.
	李宇宙, 张喆, 陈泉荣, 等. 一种以超分辨率理论为基础的磁共振眼球成像方法[J]. 波谱学杂志, 2017, 34(4): 439-452.
[3]	WANG N K, LUO M Z, LU L J. Application progress of puncture robot in minimally invasive surgery[J]. Chinese Journal of Pain Medicine, 2020, 26(5): 376-380.
	王乃堃, 骆敏舟, 陆丽娟. 穿刺机器人在微创外科手术中的应用进展[J]. 中国疼痛医学杂志, 2020, 26(5): 376-380.
[4]	JIA X H, ZHANG Y D, DU H Y, et al. Analysis and research of double tendon-sheath transmission under nuclear magnetic environment[J]. Chinese Journal of Scientific Instrument, 2019, 40(12): 242-253.
	贾小红, 张永德, 杜海艳, 等. 应用于核磁环境的双腱鞘传动分析与研究[J]. 仪器仪表学报, 2019, 40(12): 242-253.
[5]	KRIEGER A, SONG S, CHO N, et al. Development and evaluation of an actuated MRI-compatible robotic system for MRI-guided prostate intervention[J]. IEEE-ASME Transactions on Mechatronics, 2013, 18(1): 273-284. doi: 10.1109/TMECH.2011.2163523
[6]	WANG W D, ZOU Y J, SHI Y K, et al. Design and experiment of MRI-guided needle insertion surgical robot[J]. Journal of Northwestern Polytechnical University, 2016, 34(3): 508-513.
	王文东, 邹英杰, 史仪凯, 等. MRI向导的手术针介入系统设计与兼容性研究[J]. 西北工业大学学报, 2016, 34(3): 508-513
[7]	TSEKOS N V, KHANICHEH A, CHRISTOFOROU E, et al. Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study[J]. Annu Rev Biomed Eng, 2007, 9(1): 351-387. doi: 10.1146/annurev.bioeng.9.121806.160642
[8]	GASSERT R, MOSER R, BURDET E, et al. MRI/fMRI-compatible robotic system with force feedback for interaction with human motion[J]. IEEE-ASME Transactions on Mechatronics, 2006, 11(2): 216-224. doi: 10.1109/TMECH.2006.871897
[9]	SHOU J Y, FU Z, MEI Q F, et al. Design of MRI-compatible robot system for breast invasive surgery[J]. Machinery and Electronics, 2021, 39(7): 55-59.
	寿佳瀛, 付庄, 梅琼风, 等. MRI兼容的乳腺穿刺介入辅助机器人设计与路径规划研究[J]. 机械与电子, 2021, 39(7): 55-59.
[10]	MOREIRA P, VAN DE STEEG G, KRABBEN T, et al. The MIRIAM robot: a novel robotic system for MR-guided needle insertion in the prostate[J]. Journal of Medical Robotics Research, 2016, 1750006: 1-13.
[11]	STOIANOVICI D, KIM C, SRIMATHVEERAVALLI G, et al. MRI-Safe robot for endorectal prostate biopsy[J]. IEEE-ASME Transactions on Mechatronics, 2014, 19(4): 1289-1299. doi: 10.1109/TMECH.2013.2279775
[12]	STOIANOVICI D, KIM C, PETRISOR D, et al. MR safe robot, FDA clearance, safety and feasibility of prostate biopsy clinical trial[J]. IEEE-ASME Transactions on Mechatronics, 2017, 22(1): 115-126. doi: 10.1109/TMECH.2016.2618362
[13]	ESTÉVEZ N, YU N B, BRÜGGER M, et al. A reliability study on brain activation during active and passive arm movements supported by an MRI-compatible robot[J]. Brain Topogr, 2014, 27(6): 731-746. doi: 10.1007/s10548-014-0355-9 pmid: 24718725
[14]	YAP H K, KAMALDIN N, LIM J H, et al. A magnetic resonance compatible soft wearable robotic glove for hand rehabilitation and brain imaging[J]. IEEE T Neur Sys Reh, 2017, 25(6): 782-793. doi: 10.1109/TNSRE.2016.2602941 pmid: 28113591
[15]	ASTM F2503-20. Standard practice for marking medical devices and other items for safety in the magnetic resonance environment[R]. ASTM International. 2020.
[16]	STOIANOVICI D. Multi-imager compatible actuation principles in surgical robotics[J]. Int J Med Robot Comp, 2005, 1(2): 86-100.
[17]	STOIANOVICI D, SONG D, PETRISOR D, et al. ‘MRI Stealth’ robot for prostate interventions[J]. Minim Invasive Ther, 2007, 16(4): 241-248. doi: 10.1080/13645700701520735
[18]	STOIANOVICI D, JUN C, LIM S, et al. Multi-imager compatible, MR safe, remote center of motion needle-guide robot[J]. IEEE T Biomed Eng, 2018, 65(1): 165-177. doi: 10.1109/TBME.2017.2697766
[19]	YAN S, TU X Q, PENG M. Design and implementation of a monitoring system for measuring polarization degree of optical pumping ³He[J]. Chinese J Magn Reson, 2020, 37(1): 114-122.
	闫松, 屠小青, 彭梅. 光泵抽运³He极化程度监控系统的设计与实现[J]. 波谱学杂志, 2020, 37(1): 114-122.
[20]	SUN H Y, TANG W N, WANG W M. Improving signal-to-noise ratio in magnetic resonance imaging using dynamic receiver gain[J]. Chinese J Magn Reson, 2014, 31(4): 515-522.
	孙宏宇, 汤伟男, 王为民. 利用动态接收增益提高磁共振成像信噪比的方法[J]. 波谱学杂志, 2014, 31(4): 515-522.
[21]	NEMA MS 1-2008. Determination of signal-to-noise ratio (SNR) in diagnostic magnetic resonance imaging[R]. NEMA. 2020.

图像数据集	测试配置		配置描述
图像数据集	测试模体	手术机器人	配置描述
{N}组	√	×	测试模体与线圈配置完成，单独放置于MRI扫描仪设定位置处.
{P}组	√	√	{N}组配置完成后，手术机器人与测试模体配置好手术体位. 控制器配置完成，置于MRI扫描仪内. 系统未通电.
{A}组	√	√	{P}组配置完成后，手术机器人系统组件通电，等待指令.
{M}组	√	√	{A}组配置完成后，手术机器人系统收到控制指令，稳定驱动机构运动.

扫描参数名称	ACR 2D T1w SE	ACR 2D T2w SE	3D T1w GRE
翻转角	90?	90?	10?
重复时间/ms	500	2000	8.5
回波时间/ms	20	80	3.82
信号平均数	1	1	2
接收带宽/kHz	16.6	16.6	66.6
扫描时间/(min:s)	3:43	11:24	2:12