MRI-powered Actuators for Robotic Interventions
Panagiotis Vartholomeos1, Lei Qin, Pierre E Dupont
1Cardiac Surgery, Children's Hospital Boston, Harvard Medical School, Boston, MA 02115 USA.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|January 31, 2012
Abstract:
This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability of the approach for needle biopsies. The concepts of actuator locking mechanisms and multi-axis control are also introduced.
