A MR-compatible tele-robotic system for MRI-guided intervention: System overview and mechanical design

被引：0
|
作者：
Raoufi, Cyrus [1 ]
Ben-Tzvi, Pinhas [1 ]
Goldenberg, Andrew A. [1 ]
Kucharczyk, Walter [2 ]
机构：
[1] Univ Toronto, Dept Mech & Ind Engn, Toronto, ON, Canada
[2] Univ Toronto, Dept Med Imaging, Toronto, ON M5S 1A1, Canada
来源：
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the design paradigm for a novel modular tele-robotic system for MRI-guided neurosurgery is presented. Clinical requirements and design parameters are discussed. The overall infrastructure for MRI-guided intervention is addressed. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Candidate neurosurgical procedures enabled by this system include thermal ablation, radiofrequency ablation, deep brain stimulators DBS, and targeted drug delivery considering the modular structure of the slave manipulator. The mechanical design and preliminary MR-compatibility experiments are reported.
引用
收藏
页码：1801 / +
页数：2
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