A Fully Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors.

ABSTRACT: This paper reports the development of a fully actuated robotic assistant for magnetic resonance imaging (MRI)-guided precision conformal ablation of brain tumors using an interstitial high intensity needle-based therapeutic ultrasound (NBTU) ablator probe. The robot is designed with an eight degree-of-freedom (DOF) remote center of motion (RCM) manipulator driven by piezoelectric actuators, five for aligning the ultrasound thermal ablator to the target lesions and three for inserting and orienting the ablator and its cannula to generate a desired ablation profile. The 8-DOF fully actuated robot can be operated in the scanner bore during imaging; thus, alleviating the need of moving the patient in or out of the scanner during the procedure, and therefore potentially reducing the procedure t

SUBMITTER: Li G 

PROVIDER: S-EPMC8117662 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature