Robotic System with Multiplex Power Transmission for MRI-guided Percutaneous Interventions

被引：0

作者：

Wang, Yang ^{[1
]}

Kim, Sungmin ^{[1
]}

Burdette, Everette C. ^{[2
]}

Kazanzides, Peter ^{[1
]}

Iordachita, Iulian ^{[1
]}

机构：

[1] Johns Hopkins Univ, Lab Computat Sensing & Robot LCSR, Baltimore, MD 21218 USA

[2] Acoust MedSyst Inc, Savoy, IL USA

来源：

2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2016年

关键词：

PROSTATE BIOPSY; PNEUMATIC ROBOT; BRACHYTHERAPY; PLACEMENT; CANCER;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

In minimally invasive prostate percutaneous interventions, Magnetic Resonance Imaging (MRI) compatible robotic assistive systems developed over the years tend to have multiple degrees of freedom (DOF) to accomplish complex surgical tasks. This paper presents a novel design of an MRI-compatible transmission that allows one driving motor to control a multiplexed DOF robot system. The transmission could reduce the number of motors in the system, while maintaining the functionality of the system, by controlling each motion sequentially rather than simultaneously. A series of preliminary experiments as well as a targeting accuracy test are conducted to evaluate the accuracy of the system.

引用

页码：5228 / 5232

页数：5

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