TY - GEN
T1 - An actuated phantom for developing and studying MRI-guided interventions in dynamic environments
AU - Von Sternberg, Nicholas C.
AU - Hedayati, Yousef S.
AU - Zaid, Habib M.
AU - Yeniaras, Erol
AU - Christoforou, Eftychios
AU - Tsekos, Nikolaos V.
PY - 2012
Y1 - 2012
N2 - During early development stages of novel medical technologies the use of cost-effective, reusable and adaptable dynamic models can be an effective precursor to animal studies. This paper describes and demonstrates a novel, MR compatible, actuated phantom which can mimic the global motion of the left ventricular corridor. This prototype has five actuated DoF and is controlled to replicate specific in vivo motion according to pre-collected MR images. Studies conducted demonstrate 21.1% open-loop error in replicating 1.57 mm motions. MR studies in a 1.5T clinical scanner manifested that the system is MR compatible. SNR was measured to be 90.9 ± 15.4 with the motors in motion and 89.4 ± 2.6 with the motors idle. The purpose of this device is to be used as a phantom for the development and validation of image-guided and robot-assisted intracardiac surgeries in the beating heart.
AB - During early development stages of novel medical technologies the use of cost-effective, reusable and adaptable dynamic models can be an effective precursor to animal studies. This paper describes and demonstrates a novel, MR compatible, actuated phantom which can mimic the global motion of the left ventricular corridor. This prototype has five actuated DoF and is controlled to replicate specific in vivo motion according to pre-collected MR images. Studies conducted demonstrate 21.1% open-loop error in replicating 1.57 mm motions. MR studies in a 1.5T clinical scanner manifested that the system is MR compatible. SNR was measured to be 90.9 ± 15.4 with the motors in motion and 89.4 ± 2.6 with the motors idle. The purpose of this device is to be used as a phantom for the development and validation of image-guided and robot-assisted intracardiac surgeries in the beating heart.
UR - http://www.scopus.com/inward/record.url?scp=84867429154&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867429154&partnerID=8YFLogxK
U2 - 10.1109/BioRob.2012.6290792
DO - 10.1109/BioRob.2012.6290792
M3 - Conference contribution
AN - SCOPUS:84867429154
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1669
EP - 1674
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -