Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention

@article{Krieger2010DevelopmentAP,
  title={Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention},
  author={Axel Krieger and Iulian Iordachita and Sang-Eun Song and Nathan Bongjoon Cho and Peter Guion and Gabor Fichtinger and Louis L. Whitcomb},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={1066-1073}
}
This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided intervention. The robot employs an actuated needle guide with the goal of reducing interventional procedure times and increasing needle placement accuracy. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no… CONTINUE READING