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Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery
Department of Applied Technology, California State University, Humboldt
Department of Mechanical and Industrial Engineering, University of Toronto; Toronto, Canada
Department of Medical Imaging, University of Toronto, Toronto, Canada
- 1 Department of Applied Technology, California State University, Humboldt
- 2 Department of Mechanical and Industrial Engineering, University of Toronto; Toronto, Canada
- 3 Department of Medical Imaging, University of Toronto, Toronto, Canada
Journal of Biomedical Science and Engineering·Volume 01 (2008)·Pages 68–74·Published 1 May 2008·DOI10.4236/jbise.2008.11011
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Abstract
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 MRI-guided 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 to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.
KeywordsMR-compatible Robottele-surgerytele-roboticsmedical robot
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