研究目的
To design and develop a mobile robotic CT system for intraoperative use, featuring a novel gantry mechanism and single-DOF isocentric motions to enable both CT and fluoroscopic imaging modes with ease of installation and removal.
研究成果
The mobile robotic CT system was successfully designed and demonstrated mechanical stability with minimal vibrations and position deviations during operation. It enables intraoperative CT and fluoroscopic imaging with novel single-DOF isocentric motions and an opening gantry mechanism, offering advantages in ease of use and compactness. Future work includes clinical tests, additional mobility features, and integration with navigation systems.
研究不足
The CT scanning mode is limited to the default joint configuration; positional errors may increase in different configurations or floor conditions. The system's weight and size, though compact compared to others, could be further optimized. Static deflection in the gantry during tilt motion was observed, which might affect image quality.
1：Experimental Design and Method Selection:
The study involved designing a mobile robotic CT system with a gantry and robotic body, using mechanical and control systems to achieve isocentric motions and full rotation. Theoretical models for motion generation and stability were employed.
2：Sample Selection and Data Sources:
A prototype system was built and tested; no specific samples or datasets beyond the system itself were mentioned.
3：List of Experimental Equipment and Materials:
Included X-ray modules (Varian PaxScan 4030CB detector and Varian B-100 X-ray tube), servo motors (Yaskawa SGMJV), embedded controller (NI cRIO-9024), laser tracker (Tracker 3 by Automated Precision Inc.), and various mechanical components like belts, gears, and mobile platform with wheels.
4：Experimental Procedures and Operational Workflow:
The system was assembled, and motions (gantry rotation, isocentric wag and tilt) were executed. Performance was evaluated using a laser tracker to measure position deviations and vibrations during CT scanning motion.
5：Data Analysis Methods:
Data from the laser tracker was analyzed to compute radial deviations and trajectory differences using equations provided in the paper; statistical analysis included standard deviation calculations.
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