A light puncture robot for CT and MRI interventions
A light puncture robot for CT and MRI interventions
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DOI：
10.1109/emb.2007.910262
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发表时间：
2008-05-01
影响因子：
--
通讯作者：
Cinquin, Philippe
中科院分区：
文献类型：
--
作者：
Bricault, Ivan;Zemiti, Nabil;Cinquin, Philippe
新机器人名为光穿刺机器人（LPR），具有原始的紧凑的身体支撑架构，自然能够跟随患者的体表呼吸运动进行腹部和胸部经皮手术，这与CT，开放式MRI和封闭式MRI兼容。它完全由塑料制成，并使用由压缩空气提供动力的MR兼容气动执行器。它通过基于图像的控制使用完全集成到机器人的定位设备进行定位。医生也包括在控制回路中，因为他/她选择目标和入口点并监督整个过程。
The new robot named light puncture robot (LPR), has an original compact body-supported architecture, which is naturally able to follow the patient's body surface respiratory movements for abdominal and thoracic percutaneous procedures, which is compatible with CT, open MRI, and closed MRI. It is entirely made of plastic and uses MR-compatible pneumatic actuators powered by compressed air. It is localized via an image-based control using a localization device that is totally integrated to the robot. The physician is also included in the control loop, since he/she selects the target and the entry point and supervises the whole process.