A MR-compatible tele-robotic system for MRI-guided intervention: system overview and mechanical design

Abstract

In this paper, the design paradigm for a novel modular tele-robtoic system for MRI-guided neurosurgery is presented. Clinical requirements and design parameters are discussed. The overall infrastructure for MRI-guided intervention is addressed. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Candidate neurosurgical procedures enabled by this system include thermal ablation, radiofrequency ablation, deep brain stimulators DBS, and targeted drug delivery considering the modular structure of the slave manipulator. The mechanical design and preliminary MR-compatibility experiments are reported.