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

Author

Raoufi, Cyrus ; Ben-Tzvi, Pinhas ; Goldenberg, Andrew A. ; Kucharczyk, Walter

Author_Institution

Univ. of Toronto, Toronto

fYear

2007

fDate

Oct. 29 2007-Nov. 2 2007

Firstpage

1795

Lastpage

1800

Abstract

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.

Keywords

biomedical MRI; brain; control system synthesis; manipulators; medical robotics; neurophysiology; surgery; telerobotics; MR-compatible tele-robotic system design; MRI-guided brain biopsy; MRI-guided intervention; MRI-guided neurosurgery; candidate neurosurgical procedures; deep brain stimulators; mechanical design; radiofrequency ablation; slave manipulator; targeted drug delivery; thermal ablation; Biopsy; Magnetic fields; Magnetic materials; Magnetic resonance imaging; Neurosurgery; Radio frequency; Robots; Satellite broadcasting; Surgery; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-1-4244-0912-9

Electronic_ISBN

978-1-4244-0912-9

Type

conf

DOI

10.1109/IROS.2007.4399144

Filename

4399144