Reza Seifabadi

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Purpose: Prostate biopsy and brachytherapy involve needle insertion into the prostate. During the insertion, prostate gland rotates and deforms which may cause displacement of the target tissue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution. This approach promises to reduce needle placement and allows the(More)
PURPOSE Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. METHODS We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To(More)
PURPOSE To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. METHODS We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular(More)
The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the(More)
During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRI-compatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are(More)
SUMMARY This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning(More)
A novel compact and lightweight patient-mounted MRI-compatible robot has been designed for MRI image-guided interventions. This robot is intended to enable MRI-guided needle placement as done in shoulder arthrography. The robot could make needle placement more accurate and simplify the current workflow by converting the traditional two-stage arthrography(More)