A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection
Gang Li,Niravkumar A. Patel,Weiqiang Liu,Di Wu,Karun Sharma,Kevin Cleary,Jan Fritz,Iulian Iordachita,Gang Li,Niravkumar A. Patel,Weiqiang Liu,Di Wu,Karun Sharma,Kevin Cleary,Jan Fritz,Iulian Iordachita
This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner bore during imaging; hence, minimizing the need of moving the patient in or out of the scanner during...
