@inproceedings{871991f6096a467ab6ec63e966c5d781,
title = "A prototype for an assistive surgical MRI compatible robot",
abstract = "Magnetic Resonance Imaging (MRI) is a powerful imaging method for examining soft tissues without harmful radiation. MRI is now more common e.g., in neurosurgery and has substantially improved early diagnosis and localization of tumors. In this paper we present a prototype for an assistive Intraoperative MRI (IMRI) compatible surgery robot, which is targeting to facilitate surgical operations inside an MRI device, by introducing automatic preparatory stages and easening the working position of the surgeon. We present the mechanical and kinematic structure of the robot, its principal motion control system and initial kinematic calibration. The robot can be operated in automatic mode and in a coordinated motion control mode, supported by also an MRI compatible joystick.",
keywords = "Calibration, MRI compatible, Surgical robot",
author = "Tapio Heikkil{\"a} and Pekka Isto and Markku J{\"a}rviluoma and Pekka Kilpel{\"a}inen and Mikko Sallinen",
year = "2009",
language = "English",
isbn = "978-1-61567-900-3 ",
series = "Proceedings of the IASTED International Conference on Robotics and Applications",
publisher = "Acta Press",
pages = "209--214",
editor = "H. Asada",
booktitle = "Proceedings of the 14th IASTED International Conference on Robotics and Applications, RA 2009",
address = "Canada",
note = "14th IASTED International Conference on Robotics and Applications, RA 2009 ; Conference date: 02-11-2009 Through 04-11-2009",
}