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Title: MRI guided focused ultrasound robotic system for animal experiments
Authors: Yiannakou, Marinos 
Menikou, Georgios 
Yiallouras, Christos 
Ioannides, Cleanthis 
Damianou, Christakis A. 
Keywords: MRI
Issue Date: 1-Jan-2017
Publisher: John Wiley and Sons Ltd
Source: International Journal of Medical Robotics and Computer Assisted Surgery, 2017
Abstract: Background: In this paper an MRI-guided focused ultrasound (MRgFUS) robotic system was developed that can be used for conducting experiments in small animals.The target for this robotic system regarding motion was to move a therapeutic ultrasound transducer in two Cartesian axes. Methods: A single element spherically focused transducer of 3 cm diameter, focusing at 7 cm and operating at 0.4 MHz was used. The positioning device incorporates only MRI compatible materials. The propagation of ultrasound is a bottom to top approach. The 2-D positioning device is controlled by custom-made software and a custom-made electronic system which controls the two piezoelectric motors. Results: The system was tested successfully in agar/silica/evaporated milk phantom for various tasks (robot motion, MR compatibility, and MR thermometry). The robotic system is capable of moving the focused ultrasound transducer to perform MR-guided focused ultrasound experiments in small animals. Conclusions: This system has the potential to be deployed as a cost effective solution for performing experiments in small animals.
ISSN: 14785951
Rights: © 2017 John Wiley & Sons, Ltd.
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