期刊
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
卷 10, 期 1, 页码 22-34出版社
WILEY
DOI: 10.1002/rcs.1504
关键词
MR-compatible robots; image-guided interventions; robot design
类别
资金
- European Regional Development Fund
- Republic of Cyprus through the Research Promotion Foundation [TEXNOLOGIA/MHX/0308(BIE)/05]
- National Science Foundation (NSF) [CNS-0932272]
- Division Of Computer and Network Systems
- Direct For Computer & Info Scie & Enginr [0932272] Funding Source: National Science Foundation
BackgroundPerforming minimally invasive interventions under direct MRI guidance offers significant advantages. Required accessibility to the patient inside the MRI scanner is fairly limited, and employment of robotic assistance has been proposed. The development of MR-compatible robotic systems entails engineering challenges related to geometric constraints and the magnetic nature of the scanning environment. MethodsA novel, general-purpose, MR-compatible robotic manipulation system has been developed for the performance of minimally invasive interventions inside a cylindrical scanner under direct MRI guidance. The system is endowed with five degrees of freedom (DOF), is characterized by a unique kinematics structure and is manually actuated. ResultsThe prototype system was shown to exhibit the required MR-compatibility characteristics and a task-space positioning ability of approximately 5 mm. Needle targeting testing demonstrated a 93% success rate in acquiring a 5 mm spherical target. Phantom testing was performed inside a 3 T scanner and results are reported for an experimental study simulating MRI-guided, manipulator-assisted, MR arthrography. ConclusionsRobotic assistance provided by the developed manipulator may effectively facilitate the performance of various MRI-guided, minimally invasive interventions inside a cylindrical scanner. Copyright (c) 2013 John Wiley & Sons, Ltd.
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