Title :
Control Paradigm and Design for a Novel MR-Compatible Tele-Robotic System for MRI-Guided Neurosurgery
Author :
Raoufi, Cyrus ; Goldenberg, Andrw A. ; Kucharczyk, Walter
Author_Institution :
Toronto Univ., Toronto
Abstract :
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 components are being constructed.
Keywords :
biomedical MRI; brain; manipulators; medical robotics; neurophysiology; surgery; telerobotics; MR-compatible telerobotic control system; MRI-guided neurosurgery; brain biopsy procedure; magnetic resonance imaging; medical robotics; slave manipulator; Biopsy; Control systems; Magnetic resonance imaging; Manipulators; Medical control systems; Needles; Neurosurgery; Skull; Surgery; Surges; MRI guided neurosurgery; Medical robotics; tele-robotics; tele-surgery;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303762
