Design optimization and development of a MRI enabled autonomous surgical robotic system

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The objective of the project is to develop and design optimization of an interventional surgical robotic system that autonomously perform biopsy and ablation faster, safer and more accurately. The novelty of the project is that the developed system can work with Magnetic Resonance Imaging (MRI), which can provide real-time in-vivo positions of surgical tools and tissue properties. Meanwhile, it can provide accurate control as a minimally invasive surgery for liver ablation). It aims to address three challenges in design optimization, perception, and advanced control of the robotic system during the operation listed below:1. Design optimization of the existing system to work seamlessly with MRI (MRI compatible design, optimization, and testing). 2. Real-time MRI image processing, understanding, and motion planning. 3. Vision-guided motion control and autonomous implementation with the consideration of patience's respiration during the operation.