a. The photograph shows an overview of the 4-DOF MRI-compatible pneumatic needle placement robot and the agar phantom placed on the patient table of the MRI scanner. The phantom was removed from the scanner during the needle placement in the experiment. b. The robot with 4-DOF parallel kinematic structure has two identical triangular planar positioning mechanisms that move within the x−y plane (axial in patient coordinate system) and are connected by a linkage as a needle insertion platform. The needle is manually inserted into the prostate through the perineum after the robot positions and orients the needle insertion platform.
The Surgical Navigation and Robotics Laboratory focuses on development of novel computer and engineering methods for image-guided therapy.
Our unique approach, where imaging, computing and robotics are integrated into one unit to enhance the capability of image-guided therapy, aims to advance a minimally invasive therapy and ultimately develop new treatment methods.
Being part of a clinical research program in a Harvard affiliated hospital, we stress actual clinical applications of the developed methods. We do science, engineering, and applications. The laboratory is under the direction of Dr. Nobuhiko Hata.