APPARATUS AND METHODS FOR MRI-COMPATIBLE HAPTIC INTERFACE
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United States of America Patent
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Issued Date -
Mar 21, 2024
app pub date -
Nov 27, 2023
filing date -
Nov 9, 2009
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Abstract
A system for MRI-guided interventional needle procedures comprises a master device providing haptic feedback to and receiving position commands from the operator, a robot controller receiving position commands and providing force information to said master device, a navigation component receiving images from an MRI scanner; said navigation component providing trajectory planning information to said robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot controller, and a fiber optic sensor operatively connected to said slave robot. The fiber optic sensor provides data to the robot controller to provide force information to the master device. The master device, robot controller, navigation component, slave robot and sensor are compatible with an MRI environment and operate inside an MRI scanner room.
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