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“MRI Stealth” robot for prostate interventions
The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on theExpand
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  • Open Access
A New Type of Motor: Pneumatic Step Motor
This paper presents a new type of pneumatic motor, a pneumatic step motor (PneuStep). Directional rotary motion of discrete displacement is achieved by sequentially pressurizing the three ports ofExpand
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  • Open Access
AcuBot: a robot for radiological interventions
tl;dr
We report the development of a compact six-degree-of-freedom robot for radiological percutaneous interventions using uniplanar fluoroscopy, biplanar fluorideoscopy or computed tomography for needle biopsy, radio frequency ablation, cryotherapy, and other needle procedures. Expand
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  • Open Access
Pneumatic Actuated Robotic Assistant System for Aortic Valve Replacement Under MRI Guidance
tl;dr
We present a pneumatic actuated robotic assistant system for transapical aortic valve replacement under MRI guidance in a beating heart. Expand
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  • Open Access
System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance.
RATIONALE AND OBJECTIVES The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles intoExpand
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  • Open Access
Magnetic resonance imaging compatible robotic system for fully automated brachytherapy seed placement.
OBJECTIVES To introduce the development of the first magnetic resonance imaging (MRI)-compatible robotic system capable of automated brachytherapy seed placement. METHODS An MRI-compatible roboticExpand
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  • Open Access
Automatic Brachytherapy Seed Placement Under MRI Guidance
tl;dr
The paper presents a robotic method of performing low dose rate prostate brachytherapy under magnetic resonance imaging (MRI) guidance. Expand
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  • Open Access
Motion-Based Robotic Instrument Targeting under C-Arm Fluoroscopy
tl;dr
We present a simple and precise robot targeting method under portable x-ray fluoroscopy based on image servoing. Expand
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  • Open Access
Synthetic torso for training in and evaluation of urologic laparoscopic skills.
BACKGROUND The expanding use of advanced minimally invasive surgical techniques demands more advanced training methods, objective measures of resident performance, and more realistic and anatomicallyExpand
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  • Open Access
Robotically assisted prostate brachytherapy with transrectal ultrasound guidance--Phantom experiments.
PURPOSE To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system. METHODS AND MATERIALS The system consistsExpand
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  • Open Access