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has been cited by the following article:

• TITLE: Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery

  AUTHORS: Cyrus Raoufi, Andrew A. Goldenberg, Walter Kucharczyk

  KEYWORDS: MR-compatible Robot; tele-surgery; tele-robotics; medical robot

  JOURNAL NAME: Journal of Biomedical Science and Engineering, Vol.1 No.1, June 6, 2008

  ABSTRACT: In this paper the design of a novel modular hydraulic/pneumatic actuated tele-robotic system and a new infrastructure for MRI-guided intervention for closed-bore MRI-guided neurosurgery are presented. Candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Navigation and operating modules were designed to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.