MRI-compatible manipulator with remote-center-of-motion control.

ABSTRACT:

Purpose

To develop and assess a needle-guiding manipulator for MRI-guided therapy that allows a physician to freely select the needle insertion path while maintaining remote center of motion (RCM) at the tumor site.

Materials and methods

The manipulator consists of a three-degrees-of-freedom (DOF) base stage and passive needle holder with unconstrained two-DOF rotation. The synergistic control keeps the Virtual RCM at the preplanned target using encoder outputs from the needle holder as input to motorize the base stage.

Results

The manipulator assists in searching for an optimal needle insertion path which is a complex and time-consuming task in MRI-guided ablation therapy for liver tumors. The assessment study showed that accuracy of keeping the virtual RCM to predef

SUBMITTER: Hata N 

PROVIDER: S-EPMC2815332 | biostudies-literature | 2008 May

REPOSITORIES: biostudies-literature