| Reconfigurable MRI-guided robotic surgical manipulator: Prostate brachytherapy and neurosurgery applications. | |
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MedLine Citation:
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PMID: 22254754 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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This paper describes a modular design approach for robotic surgical manipulator under magnetic resonance imaging (MRI) guidance. The proposed manipulator provides 2 degree of freedom (DOF) Cartesian motion and 2-DOF pitch and yaw motion. Primarily built up with dielectric materials, it utilizes parallel mechanism and is compact in size to fit into the limited space of close-bore MRI scanner. It is ideal for needle based surgical procedures which usually require positioning and orientation control for accurate imaging plane alignment. Specifically, this mechanism is easily reconfigurable to over constrained manipulator structure which provides 2-DOF Cartesian motion by simple structure modification. This modular manipulator integrated with different end-effector modules is investigated for prostate brachytherapy and neu-rosurgery applications as preliminary evaluation. |
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Authors:
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Hao Su; Iulian I Iordachita; Xiaoan Yan; Gregory A Cole; Gregory S Fischer |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference Volume: 2011 ISSN: 1557-170X ISO Abbreviation: Conf Proc IEEE Eng Med Biol Soc Publication Date: 2011 Aug |
Date Detail:
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Created Date: 2012-01-18 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101243413 Medline TA: Conf Proc IEEE Eng Med Biol Soc Country: United States |
Other Details:
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Languages: eng Pagination: 2111-4 Citation Subset: IM |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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