CT and MR Compatible Light Puncture Robot: Architectural Design and First Experiments.

Elise Taillant 1 Christophe Allegrini 2 Juan-Carlos Avila-Vilchis 3 Ivan Bricault 4 Philippe Cinquin 2
1 GMCAO
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications [Grenoble], PRAXIM
2 GMCAO
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications [Grenoble]
3 GMCAO
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications [Grenoble], Instituto de Ingeniería [Mexico]
4 GMCAO
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications [Grenoble], Service central de radiologie et d'imagerie médicale
Abstract : This paper presents a new robotic architecture designed to perform interventional CT/MR procedures, particularly punctures. Such procedures are very popular nowadays for diagnostic or therapeutic purposes. Innovations concerning the robotic architecture, materials and energy sources are exposed. We also introduce the control loop we use to check the movements and the positioning of the robot, including a new method to localize the robot thanks to the images coming from the imaging devices (CT or MRI). Finally, the results of the first experiments are presented.
Type de document :
Communication dans un congrès
Christian Barillot and David R. Haynor and Pierre Hellier. Medical Image Computing and Computer-Assisted Intervention (MICCAI '04), Sep 2004, Saint-Malo, France. Springer-Verlag, 3217, pp.145-152, 2004, Lecture Notes in Computer Science (LNCS). 〈10.1007/978-3-540-30136-3_19〉
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https://hal.inria.fr/inria-00590181
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Soumis le : mardi 3 mai 2011 - 09:29:51
Dernière modification le : samedi 20 janvier 2018 - 01:17:25

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Elise Taillant, Christophe Allegrini, Juan-Carlos Avila-Vilchis, Ivan Bricault, Philippe Cinquin. CT and MR Compatible Light Puncture Robot: Architectural Design and First Experiments.. Christian Barillot and David R. Haynor and Pierre Hellier. Medical Image Computing and Computer-Assisted Intervention (MICCAI '04), Sep 2004, Saint-Malo, France. Springer-Verlag, 3217, pp.145-152, 2004, Lecture Notes in Computer Science (LNCS). 〈10.1007/978-3-540-30136-3_19〉. 〈inria-00590181〉

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