NDLI: Manipulator for magnetic resonance imaging guided interventions: design, prototype and feasibility

Content Provider	IEEE Xplore Digital Library
Author	Christoforou, E.G. Ozcan, A. Tsekos, N.V.
Copyright Year	2006
Description	Author affiliation: Mallinckrodt Inst. of Radiol., Washington Univ., St. Louis, MO (Christoforou, E.G.; Ozcan, A.; Tsekos, N.V.)
Abstract	The aim of this work is to develop a seven degree of freedom (DOF) remotely controlled manipulator to perform minimally invasive interventions with real-time magnetic resonance imaging (MRI) guidance inside clinical cylindrical scanners. Control of the device is based on MR images collected pre-operatively and in real-time during the procedure. A user interface fuses all sensor information for man-in-the-loop control. Stereotactic guidance uses multislice and/or three-dimensional MR images to set a trajectory of insertion. Free-handed (or manual) guidance uses a master/slave control device, which replicates the kinematics structure of the arm, to control its movement. The control software checks any motion of the manipulator whether it is within an allowable volume extracted from MR images. The device control is performed with a host/target computer configuration. The system is connected to the MR scanner to receive the MR images and send the coordinates of the end-effector for dynamic control of the imaged plane. The manipulator compatibility with the MR environment and image-guided maneuvering was tested on a 1.5 Tesla MR scanner
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3838
Ending Page	3843
File Size	842963
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642289
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic resonance imaging Prototypes Manipulator dynamics Minimally invasive surgery User interfaces Fuses Magnetic sensors Sensor fusion Master-slave Kinematics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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