Imperial College London
Portrait Picture

DrEnricoFranco

Faculty of Engineering, Department of Mechanical Engineering

Lecturer
 
 
 
//

Contact

 

e.franco11 Website CV

 
 
//

Location

 

414BBessemer BuildingSouth Kensington Campus

//

Summary

 

Publications

Citation

BibTex format

@article{Franco:2016:10.1109/TMECH.2015.2476556,
author = {Franco, E and Ristic, M},
doi = {10.1109/TMECH.2015.2476556},
journal = {IEEE-ASME Transactions on Mechatronics},
pages = {931--944},
title = {Needle-guiding robot for laser ablation of liver tumors under MRI guidance},
url = {http://dx.doi.org/10.1109/TMECH.2015.2476556},
volume = {21},
year = {2016}
}
Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This paper presents the design, control and experimental evaluation of a needle-guiding robot intended for use in laser ablation (LA) of liver tumors under guidance by Magnetic Resonance Imaging (MRI). The robot provides alignment of a needle guide inside the MRI scanner bore and employs manual needle insertion. In order to minimize MR-image deterioration, the robot is actuated using plastic pneumatic cylinders and long pipes connecting to control valves located outside the MRI scanner room. A new Time Delay Control scheme (TDC) was employed to achieve high position accuracy without requiring pressure or force measurements in the MRI scanner. The control scheme was compared with experiments to a previously developed Sliding Mode Controller (SMC). A marker localization method based on the convolution theorem of Fourier transform was employed to register the robot in the MRI scanner coordinate system and to verify the position of the needle guide before the manual needle insertion. Experiments in a closed-bore MRI scanner showed a variation in SNR below 5%. A phantom study indicates that the targeting error in robot-assisted needle insertions is below 5 mm and suggest a potential time saving of 30 minutes compared to the manual MRI-guided LA procedure.
AU  - Franco,E
AU  - Ristic,M
DO  - 10.1109/TMECH.2015.2476556
EP  - 944
PY  - 2016///
SN  - 1083-4435
SP  - 931
TI  - Needle-guiding robot for laser ablation of liver tumors under MRI guidance
T2  - IEEE-ASME Transactions on Mechatronics
UR  - http://dx.doi.org/10.1109/TMECH.2015.2476556
UR  - https://ieeexplore.ieee.org/document/7239575
UR  - http://hdl.handle.net/10044/1/25935
VL  - 21
ER  -
Download