MRI-guided frameless biopsy robotic system with the inclusion of unfocused ultrasound transducer for brain cancer ablation

2018 ◽  
Vol 15 (1) ◽  
pp. e1951 ◽  
Author(s):  
Marinos Giannakou ◽  
Christos Yiallouras ◽  
Georgios Menikou ◽  
Cleanthis Ioannides ◽  
Christakis Damianou
Keyword(s):  
Brain Cancer ◽  
Robotic System ◽  
Ultrasound Transducer ◽  
Mri Guided ◽  
Frameless Biopsy ◽  
Cancer Ablation ◽  
Unfocused Ultrasound

Development of a Master-Slave Robotic System for MRI-Guided Intracardiac Interventions

2013 ◽  
Author(s):  
Amirhossein Salimi ◽  
Amin Ramezanifar ◽  
Javad Mohammadpour ◽  
Karolos M. Grogoriadis
Keyword(s):  
Magnetic Resonance Imaging ◽  
Pid Control ◽  
Control Design ◽  
Robotic System ◽  
Experimental Setup ◽  
Resonance Imaging ◽  
Parallel Platform ◽  
Mri Guided ◽  
Magnetic Resonance Imaging Mri ◽  
Reference Trajectories

Restricted space inside the magnetic resonance imaging (MRI) scanner bore prevents surgeons to directly interact with the patient during MRI-guided procedures. This motivates the development of a robotic system that can act as an interface during those interventions. In this paper, we present a master-slave robotic system as a solution to the aforedescribed issue. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATH) designed to serve as the slave mechanism inside the scanner bore. We present in this paper the design principles for the platform, as well as the PID control design for the system. We use our experimental setup to evaluate the performance of the system by examining the effectiveness of the slave platform in tracking the reference trajectories generated by the master robot.

scholarly journals An Integrated Robotic System for MRI-Guided Neuroablation: Preclinical Evaluation

2020 ◽  
Vol 67 (10) ◽  
pp. 2990-2999
Author(s):  
Niravkumar A. Patel ◽  
Christopher J. Nycz ◽  
Paulo A. Carvalho ◽  
Katie Y. Gandomi ◽  
Radian Gondokaryono ◽  
...  
Keyword(s):  
Robotic System ◽  
Preclinical Evaluation ◽  
Mri Guided

Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

2008 ◽  
Author(s):  
C. Raoufi ◽  
A. A. Goldenberg ◽  
W. Kucharczyk ◽  
H. Hadian
Keyword(s):  
Modular Design ◽  
Brain Biopsy ◽  
Inverse Kinematic ◽  
Robotic System ◽  
Control Architecture ◽  
Neurosurgical Procedures ◽  
Biopsy Needle ◽  
Mri Guided ◽  
Position And Orientation ◽  
And Control

In this paper, the inverse kinematic and control paradigm of a novel tele-robotic system for MRI-guided interventions for closed-bore MRI-guided brain biopsy is presented. Other candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The control architecture is also reported. The design paradigm is fundamentally based on a modular design configuration of the slave manipulator that is performing tasks inside MR scanner. The tele-robotic system is a master-slave system. The master manipulator consists of three units including: (i) the navigation module; (ii) the biopsy module; and (iii) the surgical arm. Navigation and biopsy modules were designed to undertake the alignment and advancement of the surgical needle respectively. The biopsy needle is held and advanced by the biopsy module. The biopsy module is attached to the navigation module. All three units are held by a surgical arm. The main challenge in the control of the biopsy needle using the proposed navigation module is to adjust a surgical tool from its initial position and orientation to a final position and orientation. In a typical brain biopsy operation, the desired task is to align the biopsy needle with a target knowing the positions of both the target in the patient’s skull and the entry point on the surface of the skull. In this paper, the mechanical design, control paradigms, and inverse kinematics model of the robot are reported.

scholarly journals Robotic System for MRI-Guided Focal Laser Ablation in the Prostate

2017 ◽  
Vol 22 (1) ◽  
pp. 107-114 ◽  
Author(s):  
Yue Chen ◽  
Alexander Squires ◽  
Reza Seifabadi ◽  
Sheng Xu ◽  
Harsh Kumar Agarwal ◽  
...  
Keyword(s):  
Laser Ablation ◽  
Robotic System ◽  
Mri Guided

MRI-guided robotic system for transperineal prostate interventions: proof of principle

2010 ◽  
Vol 55 (5) ◽  
pp. N133-N140 ◽  
Author(s):  
Michiel R van den Bosch ◽  
Maaike R Moman ◽  
Marco van Vulpen ◽  
Jan J Battermann ◽  
Ed Duiveman ◽  
...  
Keyword(s):  
Robotic System ◽  
Mri Guided ◽  
Proof Of Principle

MRI guided focused ultrasound robotic system for animal experiments

2017 ◽  
Vol 13 (4) ◽  
pp. e1804 ◽  
Author(s):  
Marinos Yiannakou ◽  
Georgios Menikou ◽  
Christos Yiallouras ◽  
Cleanthis Ioannides ◽  
Christakis Damianou
Keyword(s):  
Focused Ultrasound ◽  
Animal Experiments ◽  
Robotic System ◽  
Mri Guided

scholarly journals First clinical experience with a dedicated MRI-guided high-intensity focused ultrasound system for breast cancer ablation

2016 ◽  
Vol 26 (11) ◽  
pp. 4037-4046 ◽  
Author(s):  
Laura G. Merckel ◽  
Floor M. Knuttel ◽  
Roel Deckers ◽  
Thijs van Dalen ◽  
Gerald Schubert ◽  
...  
Keyword(s):  
Breast Cancer ◽  
Clinical Experience ◽  
High Intensity ◽  
Focused Ultrasound ◽  
High Intensity Focused Ultrasound ◽  
Ultrasound System ◽  
Mri Guided ◽  
Cancer Ablation ◽  
Dedicated Mri
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