Design and Optimization Analysis of Open-MRI Compatibile Robot for Neurosurgery
Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of brain cancer. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring neurosurgery interventions, due to its excellent visualization of the brain tissues, including cancer tissues, its sub-structure and surrounding tissues. Despite these advantages, MRI scanners (open or closed) have not typically been used in neurosurgery interventions. The strong magnetic field prevents the use of conventional mechatroics and the confined physical space makes it extremely challenging to access the patient. MRI guided robot for neurosurgery have provided the solution of the above difficulities and more accuracy than surgery for neurosurgery. Presented here is the design of 5 degrees of freedom (DOF) open-MRI compatible robot for neurosurgery. The targeted clinical applications of the proposed robot are based on invasive surgery procedures, such as biopsy and brachytherapy. The paper explains the design process, MRI compatibility solution of robot and parameter optimization.
robot MRI-guided neurosurgery optimization
Hong Zaidi Yun Chao Zhao Lei Wang Yang
Robotics Institute Beihang University Beijing, China Medical School Harvard University Boston, USA Department of MRI Tonghua City Hospital Jinlin, China
国际会议
上海
英文
1773-1776
2008-05-16（万方平台首次上网日期，不代表论文的发表时间）