Closed-loop Position Control of an MRI-powered Biopsy Robot
نویسندگان
چکیده
INTRODUCTION Clinical MRI scanners can provide large amounts of electromagnetic energy that potentially could be used for actuation as well as imaging and so provide a complete environment for robotic interventions. The idea of using MR scanner magnetic gradients for actuating and tracking millimeter or micrometer size ferromagnetic particles was initially proposed and performed by Martel et al. [1] for drug-delivery applications. In parallel, many groups have developed MRI compatible robots for interventional applications (see reviews in [2,3]).
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