MRI Compatible Robot Systems for Medical Intervention

Li, Ming; Mazilu, Dumitru; Kapoor, Ankur; Horvath, Keith A.

doi:10.5772/9675

Cited by 7 publications

(7 citation statements)

References 42 publications

(60 reference statements)

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“…An arm sitting on the arch takes advantage of the clearance between the patient and the bore. Further evaluation and different applications of Innomotion robotic system have been performed .…”

Section: Introductionmentioning

confidence: 99%

MR compatible positioning device for guiding a focused ultrasound system for the treatment of brain deseases

Mylonas

Damianou

2013

Int J Med Robotics Comput Assist Surg

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Section: Introductionmentioning

confidence: 99%

MR compatible positioning device for guiding a focused ultrasound system for the treatment of brain deseases

Mylonas

Damianou

2013

Int J Med Robotics Comput Assist Surg

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“…Augmented reality changes the perspective of relying on X-rays and CT scans which have to be done on a prior basis by the patient. This consumes much time, resulting in a 2D visual image [7], [8].…”

Section: E Augmented Reality Operational Proceduresmentioning

confidence: 99%

“… Mainly, it focuses on visualizing the patient's internal organs using robot manipulators.  Robots designed should have a software system linked with hardware to perform certain tasks [7], [8].  MRI compatible robots usually have a two-interface system as it uses an image-guided diagnosis.…”

Section: E Augmented Reality Operational Proceduresmentioning

confidence: 99%

Design of Robot Manipulators and Functional Classification of Medical Robots

Swarnalatha¹,

Menon²

2022

International Journal on Advanced Science, Engineering and Information Technology

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This paper intended to conduct research based on medical robotics, which fundamentally couple information to enhance the performance of human abilities significantly, in this case, surgical interventions, rehabilitation, or simply helping differently-abled people perform daily tasks. This research work aims to comprehend principal concepts in medical robotic designing, analysis, and realtime control of robotic systems within the context of medical applications. Extensive research on telerobotic systems and their applications in robot-assisted minimally invasive surgery/telesurgery is a major aspect of this research. The core aspects focus on the application, functionality, and theoretical aspects of interactive robotic technologies in medicine. Surgical, physiotherapy, and neurorehabilitative robotic systems are significant outlooks of medical robotics. Technological aspects, such as instrumentation, mechanisms, imaging, and simulation, were conducted using MATLAB and Webot software. Simulations using software usage was focused on designing robotic medical models and differentiated using functional classification. Three-dimensional robots with better dexterity and degree of freedom were simulated using Webot software. This research work proposes new approaches of augmented reality aiding medical surgeries whereby three-dimensional visualization of organs is detailed as the future of medical applications. Robotic Kinematics and algorithms are studied in detail when designing these robots on CAD/CAM. Comparative studies based on already implemented medical robots were also conducted. The functionality, drawbacks, ethical issues, and consents of patients are comprehended in detail in this research.

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“…Yang et al developed a piezo/pneumatic robotic system for breast biopsy [4]. Li et al developed a transapical aortic valve replacement robot using the commercial Innomotion arm combined with a custom 3-DOF delivery module driven by pneumatic cylinders with optical feedback sensors [5]. The aforementioned robotic systems have in common that the actuation system is complex and expensive.…”

Section: A State Of the Artmentioning

confidence: 99%

Controlling the Stormram 2: An MRI-compatible robotic system for breast biopsy

Abdelaziz

Groenhuis

Veltman

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Breast cancer is the most frequently lifethreatening diagnosed type of cancer among women. Early and accurate diagnosis by acquiring a tissue sample using biopsy techniques is essential. However, small lesions only visible by MRI are often missed in standard methods, indicating the need for a robotic-assisted biopsy system that is MRIcompatible. Existing proof-of-concepts are difficult to employ due to large sizes and/or actuation complexities. Therefore, a compact pneumatically-actuated 5 DOF MRI-compatible robot was further developed and controlled by a computerized valve manifold. Accuracy and efficiency measurements have been performed using two different PVC breast phantoms with embedded fish oil capsules (mimicking lesions) inside a 0.25T MRI scanner. Preliminary results show that the end-effector was able to hit the targeted capsules, and that the position accuracy is in the range of 4.7-7.3 mm. The developed robotic system has potential to perform MRI-guided breast biopsies accurately and improve the clinical workflow.

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MRI Compatible Robot Systems for Medical Intervention

Cited by 7 publications

References 42 publications

MR compatible positioning device for guiding a focused ultrasound system for the treatment of brain deseases

MR compatible positioning device for guiding a focused ultrasound system for the treatment of brain deseases

Design of Robot Manipulators and Functional Classification of Medical Robots

Controlling the Stormram 2: An MRI-compatible robotic system for breast biopsy

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