TY - GEN
T1 - Robot-facilitated scanning and co-registration of multi-modal and multi-level sensing
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Sonmez, Ahmet E.
AU - Özcan, Alpay
AU - Spees, William M.
AU - Tsekos, Nikolaos V.
PY - 2011
Y1 - 2011
N2 - Robotic manipulators have emerged and are continuously evolving as a valuable tool in medical applications. This work introduces a new biomedical application for robotics: multimodality imaging by facilitating scanning of spatially localized bio-sensing and co-registration. Established or currently emerging molecular and near cellular modalities, such as optical and magnetic resonance spectroscopy, offer new opportunities for assessing tissue pathophysiology in situ. The limited tissue penetration of those modalities can be addressed by locally placing the sensor, i.e. with a minimally invasive trans-needle or trans-catheter approach. Herein, we describe the use of a robotic manipulator to scan the area of interest by carrying such a sensor for generating 1-D scans while registering them to a guiding modality. The approach is demonstrated by using a miniature RF coil for collecting proton MR spectra (MRS) and scanning an area of interest on phantoms with the manipulator. MRI is used to guide this procedure as well as co-register MR imaging and spectroscopy. LineScans on two compartment phantoms demonstrated a clear spatial distribution of the resonances originating from those compartments in agreement with the scout guiding MR images. The system described herein, is a generalized platform for performing MR-guided multimodality and multilevel sensing.
AB - Robotic manipulators have emerged and are continuously evolving as a valuable tool in medical applications. This work introduces a new biomedical application for robotics: multimodality imaging by facilitating scanning of spatially localized bio-sensing and co-registration. Established or currently emerging molecular and near cellular modalities, such as optical and magnetic resonance spectroscopy, offer new opportunities for assessing tissue pathophysiology in situ. The limited tissue penetration of those modalities can be addressed by locally placing the sensor, i.e. with a minimally invasive trans-needle or trans-catheter approach. Herein, we describe the use of a robotic manipulator to scan the area of interest by carrying such a sensor for generating 1-D scans while registering them to a guiding modality. The approach is demonstrated by using a miniature RF coil for collecting proton MR spectra (MRS) and scanning an area of interest on phantoms with the manipulator. MRI is used to guide this procedure as well as co-register MR imaging and spectroscopy. LineScans on two compartment phantoms demonstrated a clear spatial distribution of the resonances originating from those compartments in agreement with the scout guiding MR images. The system described herein, is a generalized platform for performing MR-guided multimodality and multilevel sensing.
UR - http://www.scopus.com/inward/record.url?scp=84855428728&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980312
DO - 10.1109/ICRA.2011.5980312
M3 - Conference contribution
AN - SCOPUS:84855428728
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1133
EP - 1138
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -