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Enabling technologies for MRI guided...

The Johns Hopkins University.

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Enabling technologies for MRI guided interventional procedures.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Enabling technologies for MRI guided interventional procedures./
作者:	Fischer, Gregory Scott.
面頁冊數:	243 p.
附註:	Adviser: Gabor Fichtinger.
Contained By:	Dissertation Abstracts International69-12B.
標題:	Engineering, Biomedical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3339891
ISBN:	9780549945246

Enabling technologies for MRI guided interventional procedures.
Fischer, Gregory Scott.

Enabling technologies for MRI guided interventional procedures. - 243 p.

Adviser: Gabor Fichtinger.

Thesis (Ph.D.)--The Johns Hopkins University, 2009.

This dissertation addresses topics related to developing interventional assistant devices for Magnetic Resonance Imaging (MRI). MRI can provide high-quality 3D visualization of target anatomy and surrounding tissue, but the benefits can not be readily harnessed for interventional procedures due to difficulties associated with the use of high-field (1.5T or greater) MRI. Discussed are potential solutions to the inability to use conventional mechatronics and the confined physical space in the scanner bore.

ISBN: 9780549945246Subjects--Topical Terms:

1017684
Engineering, Biomedical.

Enabling technologies for MRI guided interventional procedures.
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520 $a This dissertation addresses topics related to developing interventional assistant devices for Magnetic Resonance Imaging (MRI). MRI can provide high-quality 3D visualization of target anatomy and surrounding tissue, but the benefits can not be readily harnessed for interventional procedures due to difficulties associated with the use of high-field (1.5T or greater) MRI. Discussed are potential solutions to the inability to use conventional mechatronics and the confined physical space in the scanner bore.
520 $a This work describes the development of two apparently dissimilar systems that represent different approaches to the same surgical problem---coupling information and action to perform percutaneous (through the skin) needle placement with MR imaging. The first system addressed takes MR images and projects them along with a surgical plan directly on the interventional site, thus providing in-situ imaging. With anatomical images and a corresponding plan visible in the appropriate pose, the clinician can use this information to perform the surgical action.
520 $a My primary research effort has focused on a robotic assistant system that overcomes the difficulties inherent to MR-guided procedures, and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot is a servo pneumatically operated automatic needle guide, and effectively guides needles under real-time MR imaging. This thesis describes development of the robotic system including requirements, workspace analysis, mechanism design and optimization, and evaluation of MR compatibility. Further, a generally applicable MR-compatible robot controller is developed, the pneumatic control system is implemented and evaluated, and the system is deployed in pre-clinical trials. The dissertation concludes with future work and lessons learned from this endeavor.
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