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• W2079355478 abstract "This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the workflow for the manual needle insertion. A study of the finite element analysis is established and utilized to improve the mechanism weaknesses under some inevitable external forces to ensure the minimum structure deformation. The procedure for attaching a sterile plastic drape on the robot manipulator is discussed. The introduced robotic manipulator herein is aimed for the clinically prostate biopsy and brachytherapy applications." @default.
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• W2079355478 date "2013-05-01" @default.
• W2079355478 modified "2023-10-18" @default.
• W2079355478 title "Towards clinically optimized MRI-guided surgical manipulator for minimally invasive prostate percutaneous interventions: constructive design" @default.
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• W2079355478 doi "https://doi.org/10.1109/icra.2013.6630728" @default.
• W2079355478 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/3966111" @default.
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