Needle-Guiding Robot for Laser Ablation of Liver Tumors Under MRI Guidance


This paper presents the design, management, and experimental analysis of a needle-guiding robot supposed for use in laser ablation (LA) of liver tumors under steering by magnetic resonance imaging (MRI). The robot provides alignment of a needle guide inside the MRI scanner bore and employs manual needle insertion. In order to reduce MR-image deterioration, the robot is actuated using plastic pneumatic cylinders and long pipes connecting to regulate valves located outside the MRI scanner room. A brand new time-delay management scheme was employed to achieve high position accuracy without requiring pressure or force measurements within the MRI scanner. The control theme was compared with experiments to a previously developed sliding mode controller. A marker localization technique based mostly on the convolution theorem of Fourier transform was employed to register the robot within the MRI scanner coordinate system and to verify the position of the needle guide before the manual needle insertion. Experiments in an exceedingly closed-bore MRI scanner showed a variation in SNR below fivepercent. A phantom study indicates that the targeting error in robot-assisted needle insertions is below five mm and suggest a possible time saving of 30 min compared to the manual MRI-guided LA procedure.

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