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

In this paper, the design paradigm for a novel modular tele-robtoic 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-c...

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Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1795 - 1800
Main Authors Raoufi, C., Ben-Tzvi, P., Goldenberg, A.A., Kucharczyk, W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Biopsy
Magnetic fields
Magnetic materials
Magnetic resonance imaging
Neurosurgery
Radio frequency
Robots
Satellite broadcasting
Surgery
Surges
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Summary:In this paper, the design paradigm for a novel modular tele-robtoic 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.
ISBN:9781424409112
142440911X
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2007.4399144