핵심 개념
Compact MR-conditional robot facilitates accurate needle guidance in liver interventions.
초록
Introduction: Discusses the need for effective liver cancer treatments.
Robotic Platform Design: Details the design of a 4-DoF MR-conditional robot.
Hardware Design and Fabrication: Explains the components and fabrication methods used.
Control Strategy: Describes the control strategy implemented for precise movements.
Clinical Workflow: Outlines the steps involved in using the robot for liver interventions.
Results: Presents validation results on accuracy and MR-conditionality of the robot.
통계
Free space experiments indicated a robot-assisted needle insertion error of 2.6±1.3 mm at an insertion depth of 80 mm.