ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2021
A Fully Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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Who cites it
12 citing papers in PubMed, 39 citations in OpenAlex.
- Robotic technologies relevant to brain tumor surgery: a bibliometric and knowledge-mapping analysis of global trends and translational frontiers.Journal of robotic surgery · 2026Review
- A Pneumatically Actuated Robotic Assistant for MRI-Guided Stereotactic Neurosurgery.IEEE transactions on medical robotics and bionics · 2026Article
- MR-safe robotic needle driver for real-time MRI-guided minimally invasive procedures: a feasibility study.International journal of computer assisted radiology and surgery · 2026Article
- Hybrid pneumatic-hydraulic actuation for MRI-guided robotic stereotactic neurointervention.Science advances · 2025Article
- Biopiezoelectric-based nanomaterials; a promising strategy in cancer therapy.Journal of experimental & clinical cancer research : CR · 2025Review
- An MR-Safe Pneumatic Stepper Motor: Design, Control, and Characterization.Journal of medical devices · 2025Article
- An MRI-guided stereotactic neurosurgical robotic system for semi-enclosed head coils.Journal of robotic surgery · 2024Article
- Advancements in Imaging and Neurosurgical Techniques for Brain Tumor Resection: A Comprehensive Review.Cureus · 2024Review
- Towards a Robotically Steerable Laser Ablation Probe.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- A deep unrolled neural network for real-time MRI-guided brain intervention.Nature communications · 2023Article
- Review of Robot-Assisted HIFU Therapy.Sensors (Basel, Switzerland) · 2023Review
- State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
Corrections and comments
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Authors and funding
6 authors at 4 institutions in 1 country.
Funding
Abstract
This paper reports the development of a fully actuated robotic assistant for magnetic resonance imaging (MRI)-guided precision conformal ablation of brain tumors using an interstitial high intensity needle-based therapeutic ultrasound (NBTU) ablator probe. The robot is designed with an eight degree-of-freedom (DOF) remote center of motion (RCM) manipulator driven by piezoelectric actuators, five for aligning the ultrasound thermal ablator to the target lesions and three for inserting and orienting the ablator and its cannula to generate a desired ablation profile. The 8-DOF fully actuated robot can be operated in the scanner bore during imaging; thus, alleviating the need of moving the patient in or out of the scanner during the procedure, and therefore potentially reducing the procedure time and streamlining the workflow. The free space positioning accuracy of the system is evaluated with the OptiTrack motion capture system, demonstrating the root mean square (RMS) error of the tip position to be 1.11±0.43mm. The system targeting accuracy in MRI is assessed with phantom studies, indicating the RMS errors of the tip position to be 1.45±0.66mm and orientation to be 1.53±0.69°. The feasibility of the system to perform thermal ablation is validated through a preliminary ex-vivo tissue study with position error less than 4.3mm and orientation error less than 4.3°.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.