A New Hydraulically/Pneumatically Actuated MR-Compatible Robot for MRI-Guided Neurosurgery

Author

Raoufi, Cyrus ; Goldenberg, Andrew A. ; Kucharczyk, Walter

Author_Institution

Dept. of Mech. & Ind. Eng., Univ. of Toronto, Toronto, ON

fYear

2008

Firstpage

2232

Lastpage

2235

Abstract

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 of the designed MR-compatible robotic system to MRI-guided brain biopsy. Navigation and operating modules were designed to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.

Keywords

biomedical MRI; brain; drug delivery systems; medical robotics; neurophysiology; surgery; MRI-guided brain biopsy; MRI-guided neurosurgery; deep brain stimulators; drug delivery; hydraulically actuated MR-compatible robot; pneumatically actuated MR-compatible robot; radiofrequency ablation; surgical needle; tele-robotic system; thermal ablation; Biopsy; Laser surgery; Magnetic materials; Magnetic resonance imaging; Manipulators; Medical robotics; Minimally invasive surgery; Needles; Neurosurgery; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Bioinformatics and Biomedical Engineering, 2008. ICBBE 2008. The 2nd International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-1747-6

Electronic_ISBN

978-1-4244-1748-3

Type

conf

DOI

10.1109/ICBBE.2008.889

Filename

4535769