MR-Compatible Robotic Actuation Techniques for diagnostic and interventional image-guided medical procedures
The use of robotic systems in a Magnetic Resonance Imaging environment has many applications, particularly in the area of diagnostic and interventional image-guided medical procedures. These systems have been proposed for an array of interventional procedures including prostate and breast biopsies. However, working in an MRI environment is very demanding due to the limited space of the MR-bore and the severe material constraints due to the MR magnetic and RF environment. The large magnetic fields and sensitivity to RF noise preclude the use of ferromagnetic materials in any part of the device, all but ruling out the use of electromagnetic actuators as well as many commercially available actuators. Our research in this area focuses on the development of MR compatible actuation methods for image guided medical procedures.
- Esser, C.; Parthiban, C.; Zinn, M.R.; , "Development of a Parallel Actuation Approach for MR-Compatible Robotics,"Mechatronics, IEEE/ASME Transactions on, 2013 (Accepted May 2013).
- Parthiban, C.; Esser, C.; Zinn, M.R.; , "Evaluation of a parallel actuation approach for MR-compatible haptics," Haptics Symposium (HAPTICS), 2012 IEEE , vol., no., pp.563-570, 4-7 March 2012
- Esser, C.; Zinn, M.; , "Development of a differential actuator concept for MR-compatible robotic applications," Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on , vol., no., pp.395-400, 26-29 Sept. 2010. doi: 10.1109/BIOROB.2010.5628003.
We are grateful for the support of
- National Institute of Health (NIH - SBIR program)
- Wisconsin Innovation & Economic Development Research Program (IEDR)