Matches in SemOpenAlex for { <https://semopenalex.org/work/W3046241566> ?p ?o ?g. }
- W3046241566 endingPage "266" @default.
- W3046241566 startingPage "255" @default.
- W3046241566 abstract "This paper reports the development of a fully actuated robotic assistant for magnetic resonance imaging (MRI)-guided precision conformal ablation of brain tumors using an interstitial high intensity needle-based therapeutic ultrasound (NBTU) ablator probe. The robot is designed with an eight degree-of-freedom (DOF) remote center of motion (RCM) manipulator driven by piezoelectric actuators, five for aligning the ultrasound thermal ablator to the target lesions and three for inserting and orienting the ablator and its cannula to generate a desired ablation profile. The 8-DOF fully actuated robot can be operated in the scanner bore during imaging; thus, alleviating the need of moving the patient in or out of the scanner during the procedure, and therefore potentially reducing the procedure time and streamlining the workflow. The free space positioning accuracy of the system is evaluated with the OptiTrack motion capture system, demonstrating the root mean square (RMS) error of the tip position to be 1.11±0.43mm. The system targeting accuracy in MRI is assessed with phantom studies, indicating the RMS errors of the tip position to be 1.45±0.66mm and orientation to be 1.53±0.69°. The feasibility of the system to perform thermal ablation is validated through a preliminary ex-vivo tissue study with position error less than 4.3mm and orientation error less than 4.3°." @default.
- W3046241566 created "2020-08-07" @default.
- W3046241566 creator A5010637524 @default.
- W3046241566 creator A5029140435 @default.
- W3046241566 creator A5046099375 @default.
- W3046241566 creator A5057001205 @default.
- W3046241566 creator A5058339376 @default.
- W3046241566 creator A5074942308 @default.
- W3046241566 date "2021-02-01" @default.
- W3046241566 modified "2023-10-17" @default.
- W3046241566 title "A Fully Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors" @default.
- W3046241566 cites W1948403275 @default.
- W3046241566 cites W1996666143 @default.
- W3046241566 cites W2003741347 @default.
- W3046241566 cites W2009813001 @default.
- W3046241566 cites W2028944751 @default.
- W3046241566 cites W2033481362 @default.
- W3046241566 cites W2033541973 @default.
- W3046241566 cites W2057406156 @default.
- W3046241566 cites W2087106839 @default.
- W3046241566 cites W2087827464 @default.
- W3046241566 cites W2104484802 @default.
- W3046241566 cites W2106376920 @default.
- W3046241566 cites W2116921919 @default.
- W3046241566 cites W2122644208 @default.
- W3046241566 cites W2128575739 @default.
- W3046241566 cites W2130113954 @default.
- W3046241566 cites W2164018716 @default.
- W3046241566 cites W2277652348 @default.
- W3046241566 cites W2296595409 @default.
- W3046241566 cites W2533301708 @default.
- W3046241566 cites W267652256 @default.
- W3046241566 cites W2740405518 @default.
- W3046241566 cites W2766147584 @default.
- W3046241566 cites W2785594058 @default.
- W3046241566 cites W2809048793 @default.
- W3046241566 cites W2913758992 @default.
- W3046241566 cites W4244696924 @default.
- W3046241566 doi "https://doi.org/10.1109/tmech.2020.3012903" @default.
- W3046241566 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/8117662" @default.
- W3046241566 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/33994771" @default.
- W3046241566 hasPublicationYear "2021" @default.
- W3046241566 type Work @default.
- W3046241566 sameAs 3046241566 @default.
- W3046241566 citedByCount "14" @default.
- W3046241566 countsByYear W30462415662021 @default.
- W3046241566 countsByYear W30462415662022 @default.
- W3046241566 countsByYear W30462415662023 @default.
- W3046241566 crossrefType "journal-article" @default.
- W3046241566 hasAuthorship W3046241566A5010637524 @default.
- W3046241566 hasAuthorship W3046241566A5029140435 @default.
- W3046241566 hasAuthorship W3046241566A5046099375 @default.
- W3046241566 hasAuthorship W3046241566A5057001205 @default.
- W3046241566 hasAuthorship W3046241566A5058339376 @default.
- W3046241566 hasAuthorship W3046241566A5074942308 @default.
- W3046241566 hasBestOaLocation W30462415662 @default.
- W3046241566 hasConcept C104293457 @default.
- W3046241566 hasConcept C121332964 @default.
- W3046241566 hasConcept C126322002 @default.
- W3046241566 hasConcept C126838900 @default.
- W3046241566 hasConcept C136229726 @default.
- W3046241566 hasConcept C141071460 @default.
- W3046241566 hasConcept C143409427 @default.
- W3046241566 hasConcept C143753070 @default.
- W3046241566 hasConcept C154945302 @default.
- W3046241566 hasConcept C16345878 @default.
- W3046241566 hasConcept C172707124 @default.
- W3046241566 hasConcept C173974348 @default.
- W3046241566 hasConcept C24890656 @default.
- W3046241566 hasConcept C2524010 @default.
- W3046241566 hasConcept C2778074680 @default.
- W3046241566 hasConcept C2778902805 @default.
- W3046241566 hasConcept C2779751349 @default.
- W3046241566 hasConcept C31972630 @default.
- W3046241566 hasConcept C33923547 @default.
- W3046241566 hasConcept C41008148 @default.
- W3046241566 hasConcept C62520636 @default.
- W3046241566 hasConcept C71907059 @default.
- W3046241566 hasConcept C71924100 @default.
- W3046241566 hasConceptScore W3046241566C104293457 @default.
- W3046241566 hasConceptScore W3046241566C121332964 @default.
- W3046241566 hasConceptScore W3046241566C126322002 @default.
- W3046241566 hasConceptScore W3046241566C126838900 @default.
- W3046241566 hasConceptScore W3046241566C136229726 @default.
- W3046241566 hasConceptScore W3046241566C141071460 @default.
- W3046241566 hasConceptScore W3046241566C143409427 @default.
- W3046241566 hasConceptScore W3046241566C143753070 @default.
- W3046241566 hasConceptScore W3046241566C154945302 @default.
- W3046241566 hasConceptScore W3046241566C16345878 @default.
- W3046241566 hasConceptScore W3046241566C172707124 @default.
- W3046241566 hasConceptScore W3046241566C173974348 @default.
- W3046241566 hasConceptScore W3046241566C24890656 @default.
- W3046241566 hasConceptScore W3046241566C2524010 @default.
- W3046241566 hasConceptScore W3046241566C2778074680 @default.
- W3046241566 hasConceptScore W3046241566C2778902805 @default.
- W3046241566 hasConceptScore W3046241566C2779751349 @default.
- W3046241566 hasConceptScore W3046241566C31972630 @default.
- W3046241566 hasConceptScore W3046241566C33923547 @default.