MRI Compatible Surgical Robotics

Predictive modeling can play an important role in thermal ablative cancer treatments where estimated energy deposition may integrate into pre-operative planning software or combine with closed loop control. In this work, we develop a finite element model capable of simulating continuous rotation by a directional interstitial ultrasound applicator. The developed model simulates temperature maps for different rotation trajectories. The developed simulation was validated using magnetic resonance thermal imaging and demonstrated performance suitable for real-time control of robotically actuated conformal tumor ablation. read more