Real-time MRI-guided needle placement robot with integrated fiber optic force sensing

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 1583-1588

  Su, Hao ^a   Zervas, Michael ^b   Cole, Gregory A ^a   Furlong, Cosme ^b   Fischer, Gregory S ^a  

^a Worcester Polytechnic Institute   (United States)

^b WORCESTER POLYTECHNIC INSTITUTE   (United States)

Author keywords

Brachytherapy; Fabry perot interferometer; MRI compatibility; Needle driver; Optical force sensor

Indexed keywords

ACTUATOR MOTION; BRACHYTHERAPY; CARTESIANS; CONTROLLER DESIGNS; FIBER OPTIC STRAIN SENSOR; FORCE SENSING; FORCE SENSOR; HIGH RESOLUTION; IMAGING SEQUENCE; MRI COMPATIBILITY; NEEDLE INSERTION; NEEDLE PLACEMENT; NEEDLE STEERING; OPTIC SENSOR; OPTICAL FORCE; OPTICAL MODELING; OPTO-MECHANICAL DESIGN; PROSTATE BRACHYTHERAPY; REAL-TIME MRI; ROBOT MECHANISM; ROBOT MOTION; SENSING RANGES; SIGNAL-NOISE RATIO; TEMPERATURE VARIATION; THEORETICAL MODELING; TWO-POINT;

AUTOMOBILE STEERING EQUIPMENT; FABRY-PEROT INTERFEROMETERS; FIBER OPTIC SENSORS; MAGNETIC RESONANCE IMAGING; ONCOLOGY; RADIOTHERAPY; ROBOTICS; ROBOTS; SENSORS; UROLOGY;

NEEDLES;

EID: 84860246008     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979539     Document Type: Conference Paper

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