Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions

Eftychios G. Christoforou; Ioannis Seimenis; Eleni Andreou; Nikolaos V. Tsekos

doi:10.1109/BioRob.2012.6290291

Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions

Eftychios G. Christoforou, Ioannis Seimenis, Eleni Andreou, Nikolaos V. Tsekos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

A novel MR-compatible manually-actuated robotic manipulation device has been developed. It is a general-purpose system that provides access to the patient inside a closed-cylindrical MRI scanner. It allows the performance of various minimally-invasive interventions, such as biopsies and local drug deliveries, using real-time images for guidance and monitoring. The design of the system is described and the prototype constructed is presented together with initial MRI phantom testing on needle targeting. The characteristics and potential of manual actuation in MR-compatible robotic systems are examined.

Original language	English (US)
Title of host publication	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages	737-742
Number of pages	6
DOIs	https://doi.org/10.1109/BioRob.2012.6290291
State	Published - 2012
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: Jun 24 2012 → Jun 27 2012

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	6/24/12 → 6/27/12

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

Access to Document

10.1109/BioRob.2012.6290291

Cite this

Christoforou, E. G., Seimenis, I., Andreou, E., & Tsekos, N. V. (2012). Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 737-742). Article 6290291 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290291

Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions. / Christoforou, Eftychios G.; Seimenis, Ioannis; Andreou, Eleni et al.
2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 737-742 6290291 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Christoforou, EG, Seimenis, I, Andreou, E & Tsekos, NV 2012, Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions. in 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012., 6290291, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 737-742, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 6/24/12. https://doi.org/10.1109/BioRob.2012.6290291

Christoforou EG, Seimenis I, Andreou E, Tsekos NV. Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 737-742. 6290291. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BioRob.2012.6290291

Christoforou, Eftychios G. ; Seimenis, Ioannis ; Andreou, Eleni et al. / Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions. 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. pp. 737-742 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{28ed683fd9f240f2aa64ac03ad4721d4,

title = "Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions",

abstract = "A novel MR-compatible manually-actuated robotic manipulation device has been developed. It is a general-purpose system that provides access to the patient inside a closed-cylindrical MRI scanner. It allows the performance of various minimally-invasive interventions, such as biopsies and local drug deliveries, using real-time images for guidance and monitoring. The design of the system is described and the prototype constructed is presented together with initial MRI phantom testing on needle targeting. The characteristics and potential of manual actuation in MR-compatible robotic systems are examined.",

author = "Christoforou, {Eftychios G.} and Ioannis Seimenis and Eleni Andreou and Tsekos, {Nikolaos V.}",

year = "2012",

doi = "10.1109/BioRob.2012.6290291",

language = "English (US)",

isbn = "9781457711992",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

pages = "737--742",

booktitle = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012",

note = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 ; Conference date: 24-06-2012 Through 27-06-2012",

}

TY - GEN

T1 - Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions

AU - Christoforou, Eftychios G.

AU - Seimenis, Ioannis

AU - Andreou, Eleni

AU - Tsekos, Nikolaos V.

PY - 2012

Y1 - 2012

N2 - A novel MR-compatible manually-actuated robotic manipulation device has been developed. It is a general-purpose system that provides access to the patient inside a closed-cylindrical MRI scanner. It allows the performance of various minimally-invasive interventions, such as biopsies and local drug deliveries, using real-time images for guidance and monitoring. The design of the system is described and the prototype constructed is presented together with initial MRI phantom testing on needle targeting. The characteristics and potential of manual actuation in MR-compatible robotic systems are examined.

AB - A novel MR-compatible manually-actuated robotic manipulation device has been developed. It is a general-purpose system that provides access to the patient inside a closed-cylindrical MRI scanner. It allows the performance of various minimally-invasive interventions, such as biopsies and local drug deliveries, using real-time images for guidance and monitoring. The design of the system is described and the prototype constructed is presented together with initial MRI phantom testing on needle targeting. The characteristics and potential of manual actuation in MR-compatible robotic systems are examined.

UR - http://www.scopus.com/inward/record.url?scp=84867434973&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84867434973&partnerID=8YFLogxK

U2 - 10.1109/BioRob.2012.6290291

DO - 10.1109/BioRob.2012.6290291

M3 - Conference contribution

AN - SCOPUS:84867434973

SN - 9781457711992

T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

SP - 737

EP - 742

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 -

Development and initial testing of a general-purpose, MR-compatible, manually-actuated manipulator for image-guided interventions

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this