Technical Briefs

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

[+] Author and Article Information
Gregory S. Fischer

Automation and Interventional Medicine Laboratory,
Department of Mechanical Engineering,
Worcester Polytechnic Institute,
Worcester, MA, USA

Manuscript received March 15, 2013; final manuscript received April 26, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030915 (Jul 03, 2013) (2 pages) Paper No: MED-13-1070; doi: 10.1115/1.4024486 History: Received March 15, 2013; Revised April 26, 2013

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Grahic Jump Location
Fig. 1

CAD model of the needle driver mounted on a Cartesian base platform. This configuration is shown with two concentric 2-DOF actuation units on a common guide rail.

Grahic Jump Location
Fig. 2

Exploded view of one of the actuation units. Each 2-DOF unit provides rotation and translation of a needle or cannula, which is fixed using a universal collet. Multiple units may be stacked concentrically to control complex multi-tube motion.

Grahic Jump Location
Fig. 3

Prototype needle driver in a configuration with two actuation units shown with concentric-tube needles. Inset: fiducial frame filled with MR-visible gel, and CAD model of the frame showing the helix configuration concentric with the needle base.



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