Title :
A General-Purpose MR-Compatible Robotic System
Author :
Tsekos, Nikolaos V. ; Christoforou, Eftychios ; Özcan, Alpay
Author_Institution :
Mallinckrodt Inst. of Radiol., Washington Univ. Med. Center, St. Louis, MO
Abstract :
The development of a general-purpose robotic system at the Washington University for performing minimally invasive interventions with real-time MR guidance is reviewed. In this paper, the criteria upon which the system was based, and an overview of its components, the design, and prototyping of the robotic manipulator, its control components and their general integration and logic is presented. The human-machine interface and the practice of performing MR-guided interventions are described. It is concluded that when looking into the cost-effectiveness of MR-compatible systems, one cannot ignore the fact that MRI is among the most expensive imaging modalities to acquire and operate.
Keywords :
biomedical MRI; end effectors; graphical user interfaces; image registration; medical image processing; medical robotics; GUI interface; MR scanner; Washington University; end effectors; freehand man-in-the-loop direct control; general-purpose MR-compatible robotic system; human-machine interface; image registration; master-slave control device; minimally invasive interventions; real-time MR guidance; robotic manipulator; safety check component; stereotactic control; Biomedical imaging; Control systems; Hardware; Magnetic confinement; Magnetic resonance imaging; Medical diagnostic imaging; Medical robotics; Minimally invasive surgery; Orbital robotics; Robots; Equipment Design; Equipment Failure Analysis; Image Enhancement; Imaging, Three-Dimensional; Magnetic Resonance Imaging, Interventional; Robotics; Surgery, Computer-Assisted; Surgical Procedures, Minimally Invasive;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
DOI :
10.1109/EMB.2007.910270
