Abstract Summary
Surgical robots capable of operating under magnetic resonance image(MRI) scanner may improve efficiency and safety of neurosurgery. In previous work, a five-axis MRI compatible robot was developed and validated MRI compatibility and safety of the prototype. The goals of this study are twofold: position accuracy evaluation of the robot and development of brain phantom for testing the prototype. A 3D electromagnetic tracking system was employed to measure tip position of a catheter fastened to end effector of the robot. Technique to register a Z-shape fiducial frame was proposed to obtain transformation matrix between robot base and MRI machine. The brain sample from swine was compressed to obtain its viscoelasticity. The results show the registration accuracy can achieve sub-pixel accuracy and Pia mater and Arachnid membranes on outer surface of the brain dominates the biomechanics of the brain and they has to be considered in developing phantom for simulating MRI-guided surgery.
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