Abstract #4142
Imaging Assessment and Feasibility of a Hydrostatically Actuated Robotic System for Real-Time MRI-Guided Interventions
Samantha Mikaiel 1,2 , Rashid Yasin 3 , Samuel Ross 4 , M. Wasil Wahi-Anwar 1 , James Simonelli 3 , David Lu 2 , Kyung Sung 1,2 , Tsu-Chin Tsao 3 , and Holden H. Wu 1,2
1
Biomedical Physics, University of California
Los Angeles, Los Angeles, CA, United States,
2
Radiological
Sciences, University of California Los Angeles, Los
Angeles, CA, United States,
3
Mechanical
and Aerospace Engineering, University of California, Los
Angeles, CA, United States,
4
Santa
Monica College, Santa Monica, CA, United States
In this work, we present a new robotic system prototype
based on hydrostatic actuation that enables
3-degree-of-freedom (DOF) remote control of
interventional devices inside the scanner bore under
real-time MRI guidance. We observed negligible effects
on MR image artifact, SNR, and distortion. We also
demonstrated the feasibility of our new robotic system
for 3-DOF control and to achieve needle placement within
1.6 mm of defined targets under real-time MRI guidance.
Our new MRI-compatible robotic system can potentially
provide physicians continuous access to patients during
real-time MRI-guided interventions with improved
visualization and accuracy.
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