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

该项目的目标是开发和优化介入手术机器人系统，使其能够更快、更安全、更准确地自主进行活检和消融。该项目的新颖之处在于，开发的系统可以与磁共振成像（MRI）一起工作，磁共振成像可以提供手术工具和组织特性的实时体内位置。同时，作为肝脏消融的微创手术，可提供精确的控制。它旨在解决机器人系统在操作过程中设计优化、感知和高级控制方面的三个挑战：设计优化现有系统，使其与MRI无缝工作（MRI兼容设计、优化和测试）。2. 实时MRI图像处理，理解和运动规划。3. 手术过程中考虑患者呼吸的视觉引导运动控制和自主实施。

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.