IEEE Transactions on Biomedical Engineering

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An MR-Safe Endovascular Robotic Platform: Design, Control, and Ex-Vivo Evaluation
Endovascular interventions in combination with fluoroscopic navigation are a standard of care for diagnosis and treatment of cardiovascular diseases. Our work focuses on novel robotic systems for use in non-ionising MRI environments and enhanced manipulation of endovascular instrumentation. We present a novel robotic platform that comprises of a remotely operated MR compatible manipulator and an intuitive user interface. We evaluate the device performance in an expert user study with manual vs. robotic execution of endovascular tasks in ex-vivo phantoms. The promising study results may promote a paradigm shift towards fusion of robotic endovascular surgery with MRI-based navigation... Read more