Towards Safe In Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI
Yanzhou Wang,Gang Li,Ka-Wai Kwok,Kevin Cleary,Russell H. Taylor,Iulian Iordachita,Yanzhou Wang,Gang Li,Ka-Wai Kwok,Kevin Cleary,Russell H. Taylor,Iulian Iordachita
Lumbar injection is an image-guided procedure performed manually for diagnosis and treatment of lower back pain and leg pain. Previously, we have developed and verified an MR-Conditional robotic solution to assisting the needle insertion process. Drawing on our clinical experiences, a virtual remote center of motion (RCM) constraint is implemented to enable our robot to mimic a clinician’s hand mo...
