Magnetic Resonance Compatibility Analysis Method of Surgical Robotic System Based on Image Quality Evaluation

doi:10.11938/cjmr20223006

Abstract

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

CLC Number:

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.

Figures/Tables 10

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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