Design and Optimization Analysis of Open-MRI Compatibile Robot for Neurosurgery

摘要

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of brain cancer. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring neurosurgery interventions, due to its excellent visualization of the brain tissues, including cancer tissues, its sub-structure and surrounding tissues. Despite these advantages, MRI scanners (open or closed) have not typically been used in neurosurgery interventions. The strong magnetic field prevents the use of conventional mechatroics and the confined physical space makes it extremely challenging to access the patient. MRI guided robot for neurosurgery have provided the solution of the above difficulities and more accuracy than surgery for neurosurgery. Presented here is the design of 5 degrees of freedom (DOF) open- MRI compatible robot for neurosurgery. The targeted clinical applications of the proposed robot are based on invasive surgery procedures, such as biopsy and brachytherapy. The paper explains the design process, MRI compatibility solution of robot and parameter optimization.