2013 Summer Project Week:Robot Control

Key Investigators

• Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis
• Brigham and Women's Hospital/Harvard Medical School: Sonia Pujol

Objective

The purpose of this project is to explore the use of 3D-Slicer libraries to control the orientation of a puncture robot that is compatible with MR or CT (Magnetic Resonance or Computed Tomography) environments. The purpose of the robot concerns the orientation of a needle holder and to reach an internal organ to perform therapies or biopsies, for instance. The robot can perform puncture on the human thoracic and abdominal regions and is made of materials that allow its use in RM or CT environments. In this context, a mathematical model that represents the puncture process has been developed and can be used to define new control strategies that, in combination with 3D-Slicer medical images, will perform a puncture under minimal invasion criteria.

Approach, Plan

Progress