DocumentCode
3405084
Title
Control Paradigm and Design for a Novel MR-Compatible Tele-Robotic System for MRI-Guided Neurosurgery
Author
Raoufi, Cyrus ; Goldenberg, Andrw A. ; Kucharczyk, Walter
Author_Institution
Toronto Univ., Toronto
fYear
2007
fDate
5-8 Aug. 2007
Firstpage
1445
Lastpage
1451
Abstract
ln this paper, the control paradigm for a novel modular tele-robotic system for MRI-guided neurosurgery is presented. Two surgical methods of brain biopsy procedures using MR images are also presented. The overall design paradigm, mechanical design for the slave manipulator, and its control architecture are discussed. A physical prototype of the slave manipulator and controller architecture and its components are being constructed.
Keywords
biomedical MRI; brain; manipulators; medical robotics; neurophysiology; surgery; telerobotics; MR-compatible telerobotic control system; MRI-guided neurosurgery; brain biopsy procedure; magnetic resonance imaging; medical robotics; slave manipulator; Biopsy; Control systems; Magnetic resonance imaging; Manipulators; Medical control systems; Needles; Neurosurgery; Skull; Surgery; Surges; MRI guided neurosurgery; Medical robotics; tele-robotics; tele-surgery;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location
Harbin
Print_ISBN
978-1-4244-0828-3
Electronic_ISBN
978-1-4244-0828-3
Type
conf
DOI
10.1109/ICMA.2007.4303762
Filename
4303762
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