Publication: MRI-powered actuators for robotic interventions
Open/View Files
Date
2011
Published Version
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
The Harvard community has made this article openly available. Please share how this access benefits you.
Citation
Vartholomeos, Panagiotis, Lei Qin, and Pierre E. Dupont. 2011. "MRI-powered actuators for robotic interventions." In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pp. 4508-4515. doi:10.1109/IROS.2011.6094962
Research Data
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.
Description
Other Available Sources
Keywords
Terms of Use
This article is made available under the terms and conditions applicable to Other Posted Material (LAA), as set forth at Terms of Service