Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target
anatomy, surrounding tissue, and instrumentation, but there are significant challenges in …

Objective: We aim to develop and evaluate an MR-conditional concentric tube robot for
intracerebral hemorrhage (ICH) evacuation. Methods: We fabricated the concentric tube …

Magnetic resonance (MR) conditional actuators and encoders are the key components for
MR-guided robotic systems. In this article, we present the modeling and control of our MR …

In this work, the design, analysis, and characterization of a parallel robotic motion
generation platform with 6-degrees of freedom (DoF) for magnetic resonance imaging (MRI) …

We present an autonomous robotic spine needle injection system using fluoroscopic image-
based navigation. Our system includes patient-specific planning, intra-operative image …

This letter reports the improved design, system integration, and initial experimental
evaluation of a fully actuated body-mounted robotic system for real-time MRI-guided lower …

Purpose This work presents the design and preliminary validation of a Magnetic Resonance
(MR) conditional robot for lumbar injection for the treatment of lower back pain. Methods This …

Robot-assisted minimally invasive needle percutaneous intervention promotes the biopsy
operation accuracy and speed as well. Yet, Leksell-based needle displacement platform is …

An in situ needle manipulation technique used by physicians when performing spinal
injections is modeled to study its effect on needle shape and needle tip position. A …

In this work, the design, analysis, and characterization of a 6 DoF parallel robot for MRI
guided applications is presented. The primary motivation for developing this robot is to …