IEEE Transactions on Biomedical Engineering

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An Integrated Robotic System for MRI-Guided Neuroablation: Preclinical Evaluation
This paper present preclinical trials of a robotic system for needle-based therapeutic ultrasound (NBTU) ablation of brain tumors under real-time magnetic resonance imaging (MRI) guidance. The system comprises of robotic manipulator and corresponding control electronics, the NBTU ablation system and applications for planning, navigation, and monitoring of the system. The integrated robotic system can place NBTU ablator at a desired target location in porcine brain and monitor the ablation in real-time via magnetic resonance thermal imaging (MRTI). The robotic system had a mean translational and rotational accuracy of 3.13±1.41 mm and 5.58±3.59° in 10 porcine trials... Read more