Imperial College London

Dr Marco Aurisicchio

Faculty of EngineeringDyson School of Design Engineering

Senior Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 7095m.aurisicchio

 
 
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Location

 

Office 1 (104)Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Franco:10.1504/IJBBR.2015.079373,
author = {Franco, E and Aurisicchio, M and Ristic, M},
doi = {10.1504/IJBBR.2015.079373},
journal = {International Journal of Biomechatronics and Biomedical Robotics},
title = {Design and control of 3-DOF needle positioner for MRI-guided laser ablation of liver tumours},
url = {http://dx.doi.org/10.1504/IJBBR.2015.079373},
volume = {3},
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - This article presents the design and control of a pneumatic needle positioner for laser ablation of liver tumours under guidance by magnetic resonance imaging (MRI). The prototype was developed to provide accurate point-to-point remote positioning of a needle guide inside an MR scanner with the aim of evaluating the potential advantages over the manual procedure. In order to minimise alterations to the MR environment, the system employs plastic pneumatic actuators and 9 m long supply lines connecting with the control hardware located outside the magnet room. An improved sliding mode control (SMC) scheme was designed for the position control of the device. Wireless micro-coil fiducials are used for automatic registration in the reference frame of the MR scanner. The MRI-compatibility and the accuracy of the prototype are demonstrated with experiments in the MR scanner.
AU - Franco,E
AU - Aurisicchio,M
AU - Ristic,M
DO - 10.1504/IJBBR.2015.079373
SN - 1757-6792
TI - Design and control of 3-DOF needle positioner for MRI-guided laser ablation of liver tumours
T2 - International Journal of Biomechatronics and Biomedical Robotics
UR - http://dx.doi.org/10.1504/IJBBR.2015.079373
UR - http://hdl.handle.net/10044/1/52016
VL - 3
ER -