Development of a robotic device for MRI-guided interventions in the breast

N. V. Tsekos, J. Shudy, E. Yacoub, P. V. Tsekos, I. G. Koutlas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Scopus citations

Abstract

The objective of this work was to develop a robotic apparatus for MR-guided biopsy and therapeutic interventions in the breast. This device facilitates (i) conditioning of the breast, by setting the orientation and degree of compression, (ii) definition of the interventional probe trajectory, by setting the height and angulation of a probe guide and (iii) positioning of an interventional probe, by setting the depth of insertion. The apparatus is fitted with appropriate computer-controlled degrees of freedom for optimal approach for delivering and monitoring interventions with MR-guidance, such as diagnostic or therapeutic trans-cannula or subcutaneous minimally invasive procedures. The entire device is constructed of MR compatible material, i.e. non-magnetic and non-conductive, to eliminate artifacts and distortion of the local magnetic field. The apparatus is remotely controlled by means of ultrasonic actuators and a graphics user interface, providing real-time MR-guided planning and monitoring of the operation.

Original languageEnglish (US)
Title of host publicationProceedings - 2nd Annual IEEE International Symposium on Bioinformatics and Bioengineering, BIBE 2001
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages201-208
Number of pages8
ISBN (Electronic)0769514235, 9780769514239
DOIs
StatePublished - Jan 1 2001
Event2nd Annual IEEE International Symposium on Bioinformatics and Bioengineering, BIBE 2001 - Bethesda, United States
Duration: Nov 4 2001Nov 6 2001

Publication series

NameProceedings - 2nd Annual IEEE International Symposium on Bioinformatics and Bioengineering, BIBE 2001

Other

Other2nd Annual IEEE International Symposium on Bioinformatics and Bioengineering, BIBE 2001
CountryUnited States
CityBethesda
Period11/4/0111/6/01

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    Tsekos, N. V., Shudy, J., Yacoub, E., Tsekos, P. V., & Koutlas, I. G. (2001). Development of a robotic device for MRI-guided interventions in the breast. In Proceedings - 2nd Annual IEEE International Symposium on Bioinformatics and Bioengineering, BIBE 2001 (pp. 201-208). [974430] (Proceedings - 2nd Annual IEEE International Symposium on Bioinformatics and Bioengineering, BIBE 2001). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/BIBE.2001.974430