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Surgical Navigation and Robotics Laboratory

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The IGT neurosurgical planning tutorial in progress.
The IGT neurosurgical planning tutorial in progress.
Figure 5: Image of the experimental magnetic tail. The image shows the tail from two points of view: profile (lower image; reflection from the vessel wall) and half profile (upper image; direct image trough the water).
Figure 5: Image of the experimental magnetic tail. The image shows the tail from two points of view: profile (lower image; reflection from the vessel wall) and half profile (upper image; direct image trough the water).
Figure 1: (A) A robot for transperineal prostate biopsy and treatment [9]. Pneumatic actuators and optical encoders allow operating the robot inside a closed-bore 3T MRI scanner. Z-shape fiducial frame was attached for a calibration. (B) The diagram shows communication data flow of the proposed software system.
Figure 1: (A) A robot for transperineal prostate biopsy and treatment [9]. Pneumatic actuators and optical encoders allow operating the robot inside a closed-bore 3T MRI scanner. Z-shape fiducial frame was attached for a calibration. (B) The diagram shows communication data flow of the proposed software system.
Figure 3: This mechanism provides for motion in the vertical plane. Coupling the forward and rear motion provides for vertical travel, independently moving the rear provides for elevation angle (θ) adjustment.
Figure 3: This mechanism provides for motion in the vertical plane. Coupling the forward and rear motion provides for vertical travel, independently moving the rear provides for elevation angle (θ) adjustment.
The IGT basic navigation tutorial in progress.
The IGT basic navigation tutorial in progress.
Figure: The IGT advanced navigation tutorial in progress.
Figure: The IGT advanced navigation tutorial in progress.
Figure 3: Detailed view of the end effector. The end effector consists of nonmagnetic optical encoders for detecting the rotation along two axes, a controller for fine tuning of the needle position, a grip that controls the insertion pathway, and a needle holder with a hand piece for the Flash Point plane control system.
Figure 3: Detailed view of the end effector. The end effector consists of nonmagnetic optical encoders for detecting the rotation along two axes, a controller for fine tuning of the needle position, a grip that controls the insertion pathway, and a needle holder with a hand piece for the Flash Point plane control system.
Figure 7: Configuration of robot for system evaluation trials. The robot resides on the table at a realistic relative position to the phantom. The controller operates in the room at a distance of only 2:5m from the 3T MRI scanner without functional difficulties or significant image quality degradation.
Figure 7: Configuration of robot for system evaluation trials. The robot resides on the table at a realistic relative position to the phantom. The controller operates in the room at a distance of only 2:5m from the 3T MRI scanner without functional difficulties or significant image quality degradation.
Figure 1: The diagram shows overview of the developed integrated MRI and robot control software system for prostate intervention. The navigation software, scanner input-output (IO) and robot controller are connected using NaviTrack framework for bi-directional data stream.
Figure 1: The diagram shows overview of the developed integrated MRI and robot control software system for prostate intervention. The navigation software, scanner input-output (IO) and robot controller are connected using NaviTrack framework for bi-directional data stream.
Figure 1: Steerable swimming micro robot for the MRI.
Figure 1: Steerable swimming micro robot for the MRI.
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