Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery

Cyrus Raoufi, Andrew A. Goldenberg, Walter Kucharczyk

Department of Applied Technology, California State University, Humboldt.
Department of Mechanical and Industrial Engineering, University of Toronto; Toronto, Canada.
Department of Medical Imaging, University of Toronto, Toronto, Canada.

DOI: 10.4236/jbise.2008.11011                

Abstract

In this paper the design of a novel modular hydraulic/pneumatic actuated tele-robotic system and a new infrastructure for MRI-guided intervention for closed-bore MRI-guided neurosurgery are presented. Candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Navigation and operating modules were designed to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.

Keywords

MR-compatible Robot; tele-surgery; tele-robotics; medical robot

Conflicts of Interest

The authors declare no conflicts of interest.

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