Design and control of needle positioner for MRI-guided laser ablation of the liver
File(s)
Accepted version
Author(s)
Franco, E
Ristic, M
Type
Conference Paper
Abstract
This paper presents the design and control of a pneumatic needle positioner for laser ablation of liver tumors under guidance by Magnetic Resonance Imaging (MRI). The prototype was developed to provide accurate point-to-point remote positioning of a needle guide inside an MR scanner with the aim of evaluating the potential advantages over the manual procedure. In order to minimize alterations to the MR environment the system employs plastic pneumatic actuators and 9 m long supply lines connecting with the control hardware located outside the magnet room. An optimized Sliding Mode Control (SMC) scheme was designed for the position control of the device. Wireless micro-coil fiducials are used for automatic registration in the reference frame of the MR scanner. The MRI-compatibility and the accuracy of the prototype are demonstrated with experiments in the MR scanner.
Date Issued
2014-10-27
Date Acceptance
2014-09-10
Citation
Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on, 2014
Publisher
IEEE
Journal / Book Title
Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on
Copyright Statement
© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Department of Health
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000348664800025&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
II-AR-1109-11011
Source
IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Subjects
Science & Technology
Technology
Computer Science, Theory & Methods
Engineering, Electrical & Electronic
Computer Science
Engineering
Medical Robotics
Pneumatic Systems
MRI
Publication Status
Published
Start Date
2014-09-10
Finish Date
2014-09-12
Coverage Spatial
Senigallia, Italy