Development and validation of MRI compatible pediatric surgical robot with modular tooling for bone biopsy
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
In clinical practice, magnetic resonance imaging (MRI) is used to locate a lesion/tumor for bone biopsy in children. However, there is a lack of MR-compatible tools that can be used simultaneously during imaging and biopsy while maintaining surgical accuracy and safety. The Pediatric Surgery Robot (PSR) platform is a 5-DOF robot with a modular tool interface. For the case of bone biopsy, a Bone Biopsy Tooling (BBT) is attached. It is designed to fit within a Philips Achieva 3.0T MRI bore and carry a modified titanium bone biopsy needle. A surgical pre-planning and control interface has been developed for joint and Cartesian level control. The PSR-BBT has demonstrated 1.65 +/- 1.77 mm accuracy in Cartesian control in free space. The PSR-BBT can generate 12.46 +/- 0.32 N of axial force while drilling at a speed of 30 rpm, which is sufficient for cortical and cancellous bone phantoms. Under MRI testing (T1-FFE, T1-SE, T2-FFE and T2-TSE scans), the system demonstrated less than 33% signal-to-noise ratio variation while drilling and a 0.46% geometric distortion while powered on without significantly impacting MRI guidance in situ. These results show that the PSR-BBT can allow the user to simultaneously image and perform the biopsy and presents the PSR as a viable platform for MR-guided robotic surgery.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it