Kathryn G Chan1, Tim Fielding2, Mehran Anvari3. 1. CSii, Hamilton, Ontario, Canada. 2. MDA Robotics, 9445 Airport Road, Brampton, Ontario, L6S 4J3, Canada. 3. McMaster University, Department of Surgery, Hamilton, Ontario, L8N 4A6, Canada.
Abstract
BACKGROUND: The IGAR (Image-guided Automated Robot) is a robotic platform capable of performing highly accurate clinical interventions under image guidance. The IGAR is unique in that it demonstrates MRI compatibility and maintains safe operation, adequate shielding, high image quality, and accurate robotic control even while in an imaging environment. The IGAR is initially intended for breast biopsy. METHODS: Tests for projectile hazards, heating, signal-to-noise ratio loss, and geometric distortion were used to demonstrate MR compatibility. Accuracy and repeatability of the robotic system were tested on benchtop models to establish a baseline of precision. RESULTS: The IGAR averaged an accuracy of 0.34 mm and a repeatability of 0.2 mm. There was no significant distortion attributable to the robot, no projectile risk, and no unacceptable levels of heating. CONCLUSION: The IGAR system is safe and effective in an MRI environment
BACKGROUND: The IGAR (Image-guided Automated Robot) is a robotic platform capable of performing highly accurate clinical interventions under image guidance. The IGAR is unique in that it demonstrates MRI compatibility and maintains safe operation, adequate shielding, high image quality, and accurate robotic control even while in an imaging environment. The IGAR is initially intended for breast biopsy. METHODS: Tests for projectile hazards, heating, signal-to-noise ratio loss, and geometric distortion were used to demonstrate MR compatibility. Accuracy and repeatability of the robotic system were tested on benchtop models to establish a baseline of precision. RESULTS: The IGAR averaged an accuracy of 0.34 mm and a repeatability of 0.2 mm. There was no significant distortion attributable to the robot, no projectile risk, and no unacceptable levels of heating. CONCLUSION: The IGAR system is safe and effective in an MRI environment
Authors: Gang Li; Niravkumar A Patel; Yanzhou Wang; Charles Dumoulin; Wolfgang Loew; Olivia Loparo; Katherine Schneider; Karun Sharma; Kevin Cleary; Jan Fritz; Iulian Iordachita Journal: IEEE Robot Autom Lett Date: 2020-07-07
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