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In this paper the design of a novel modular hydraulic/pneumatic actuated tele-robotic system and a new infrastructure for MRI-guided intervention for closed-bore MRI- guided neurosurgery are presented. Candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The major focus is the application...
This paper reports on the development of a new closed-bore magnetic resonance imaging (MRI) compatible robotic system for image-guided prostatic interventions: ablation, brachytherapy, and biopsy. The first stage of development addresses only laser-based ablation. The robot actuators are ultrasonic motors. The first physical robot prototype was manufactured and tested in the MRI with an ablation tool...
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...
ln this paper, the control paradigm for a novel modular tele-robotic system for MRI-guided neurosurgery is presented. Two surgical methods of brain biopsy procedures using MR images are also presented. The overall design paradigm, mechanical design for the slave manipulator, and its control architecture are discussed. A physical prototype of the slave manipulator and controller architecture and its...
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