Panagiotis Vartholomeos

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This paper presents the motion analysis, design and position control of a novel, low cost, sliding micro-robot, which is actuated by centripetal forces generated by robot mounted vibration micro-motors. A new, two-micromotor design of the platform is presented, that improves system energy efficiency, and further does not necessitate for synchronous actuator(More)
Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external(More)
This review presents the state of the art of magnetic resonance imaging (MRI)-guided nanorobotic systems that can perform diagnostic, curative, and reconstructive treatments in the human body at the cellular and subcellular levels in a controllable manner. The concept of an MRI-guided nanorobotic system is based on the use of an MRI scanner to induce the(More)
This paper presents the analysis, design, and simulation of a novel microrobotic platform that is able to perform translational and rotational sliding with submicrometer positioning accuracy and develop velocities up to 1.5 mm/s. The platform actuation system is novel and based on centripetal forces generated by vibration micromotors. The motion principle(More)
This paper presents the analysis and design of a novel mini-robotic platform that is able to perform translational and rotational sliding with sub-micrometer positioning accuracy and develop velocities up to 1.5 mm/s. The platform actuation system employs vibration micro motors. The dynamic model of the platform and of its actuation system is presented, and(More)
There are many examples of minimally invasive surgery in which tethered robots are incapable of accurately reaching target locations deep inside the body either because they are too large and result in tissue damage or because the tortuosity of the path leads to loss of tip control. In these situations, small untethered magnetically-powered robots may hold(More)
This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. In the proposed approach, the MRI scanner is used to deliver power, estimate actuator state and perform closed-loop control. The actuators themselves are compact, inexpensive and wireless. Using needle driving as an example application, actuation(More)
This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the(More)
Actuators that are powered, imaged and controlled by Magnetic Resonance (MR) scanners offer the potential of inexpensively providing wireless control of MR-guided robots. Similar to traditional electric motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. To generate(More)
The excellent imaging capabilities of MRI technology are standardizing this modality for a variety of interventional procedures. To assist radiologists, MRI compatible robots relying on traditional actuation technologies are being developed. Recently, a robot that is not only MRI compatible but also MRI powered was introduced. This surgical robot is imaged(More)