A New Hydraulically/Pneumatically Actuated MRCompatible Robot for MRI-Guided Neurosurgery
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 MRIguided 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 undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.
MR-compatible Robot tele-surgery tele-robotics medical robot robotics
Cyrus Raoufi Andrew A. Goldenberg Walter Kucharczyk
Department of Mechanical and Industrial Engineering University of Toronto Toronto, Canada Department of Medical Imaging University of Toronto Toronto, Canada
国际会议
上海
英文
2232-2235
2008-05-16（万方平台首次上网日期，不代表论文的发表时间）