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Title: Simple methods to test the accuracy of MRgFUS robotic systems
Authors: Antoniou, Anastasia 
Drakos, Theocharis 
Giannakou, Marinos 
Evripidou, Nikolas 
Georgiou, Leonidas 
Christodoulou, Theodora 
Panayiotou, Natalie 
Ioannides, Cleanthis 
Zamboglou, Nikolaos 
Damianou, Christakis A. 
Major Field of Science: Engineering and Technology
Field Category: Electrical Engineering - Electronic Engineering - Information Engineering
Keywords: MRgFUS robotic devices;Motion accuracy;Simple evaluation methods
Issue Date: Aug-2021
Source: The International Journal of Medical Robotics and Computer Assisted Surgery, 2021, vol. 17, no. 4, articl. no. e2287
Volume: 17
Issue: 4
Journal: The International Journal of Medical Robotics and Computer Assisted Surgery 
Abstract: Background: Roboticassisted diagnostic and therapeutic modalities require ahighly accurate performance to be certified for clinical application. In this paper,three simple methods for assessing the accuracy of motion of magnetic resonanceguided focused ultrasound (MRgFUS) robotic systems are presented.Methods: The accuracy of motion of a 4 degrees of freedom robotic systemintended for preclinical use of MRgFUS was evaluated by calliperbased and mag-netic resonance imaging (MRI) methods, as well as visually by performing multipleablations on a plastic film.Results: The benchtop results confirmed a highly accurate motion in all axes ofoperation. The spatial positioning errors estimated by MRI evaluation were definedby the size of the imaging pixels. Lesions arrangement in discrete and overlappingpatterns confirmed satisfactory alignment of motion trajectories.Conclusions: We believe the methods presented here should serve as a standard forevaluating the accuracy of motion of MRgFUS robotic systems.
ISSN: 1478596X
DOI: 10.1002/rcs.2287
Rights: © The Authors. This is an open access article under the terms of the Creative Commons AttributionNonCommercial License.
Attribution-NonCommercial-NoDerivatives 4.0 International
Type: Article
Affiliation : Cyprus University of Technology 
Medsonic Ltd 
German Oncology Center 
Appears in Collections:Άρθρα/Articles

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