Abstract
ABSTRACT Background and Objectives: An magnetic resonance imaging (MRI)-guided focused ultrasound (MRgFUS) positioning device was developed with 3 identical Cartesian stages. The robotic system can be utilized to move a focused ultrasound transducer for performing various MR-guided applications. Materials and Methods: A single element spherically focused transducer of 4 cm diameter, focusing at 10 cm, and operating at 1.14 MHz was used during the evaluation of the robotic system. The propagation of ultrasound was either lateral or superior to inferior. MRI thermometry algorithms were developed to assess the thermal effects of MRgFUS. The proposed robotic system was developed using a three-dimensional printer. Results: The system was tested successfully in a gel phantom for various tasks (robot motion, functionality, and MR compatibility). Controlled thermal lesions were created in the gel phantom. The lesion creation was monitored successfully using MRI thermometry. Conclusions: The system was tested successfully for its functionality and its MR compatibility. This system has the potential to be used for focused ultrasound applications in the brain, breast, abdominal, and thyroid.
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