{"id":78,"date":"2015-07-28T11:30:04","date_gmt":"2015-07-28T16:30:04","guid":{"rendered":"https:\/\/my.dev.vanderbilt.edu\/dces\/?page_id=78"},"modified":"2015-08-07T10:51:52","modified_gmt":"2015-08-07T15:51:52","slug":"merlin","status":"publish","type":"page","link":"https:\/\/my.dev.vanderbilt.edu\/dces\/projects\/merlin\/","title":{"rendered":"MERLIN"},"content":{"rendered":"<h1 style=\"text-align: left\">MRI-Enabled Robotic non-Linear Incisionless Neurosurgery<\/h1>\n<h2 style=\"text-align: center\"><a href=\"https:\/\/www.youtube.com\/watch?v=Opo8Gsi50y8\">Curing Epilepsy with a Needle VIDEO<\/a><\/h2>\n<p style=\"text-align: justify\">&nbsp;<\/p>\n<p style=\"text-align: justify\"><span style=\"font-size: 13px\"><a rel=\"attachment wp-att-337\" href=\"https:\/\/my.dev.vanderbilt.edu\/dces\/projects\/merlin\/patient10l_slicedz_final_wlabels-2\/\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft size-medium wp-image-337\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/Patient10L_SlicedZ_Final_wlabels1-300x218.png\" alt=\"Transforamenal ablation needle concept\" width=\"300\" height=\"218\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/Patient10L_SlicedZ_Final_wlabels1-300x218.png 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/Patient10L_SlicedZ_Final_wlabels1-650x473.png 650w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/Patient10L_SlicedZ_Final_wlabels1.png 1172w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a>The research goal is to create a robotic system that is compatible with the intense magnetic<\/span><span style=\"font-size: 13px\"> fields of a Magnetic Resonance Imaging (MRI) scanner.\u00a0 This system has exciting potential to transform neurosurgery from traumatic open surgical procedures, to minimally-invasive, MRI-guided interventions. The imaging technology of choice for neurosurgery is MRI, yet conventional robots powered by DC motors cannot operate inside the scanner\u2019s magnet. We are developing a small, fully non-magnetic robot that can safely go with the patient inside the magnet to deliver needle-based therapy under MRI guidance. Our MRI-compatible robotic system steers a needle-sized, tentacle-like robot deep into the brain and offers a promising alternative to open brain surgeries.<\/span><\/p>\n<p style=\"text-align: justify\"><span style=\"color: #993d1b;font-family: Georgia, Times, serif;font-size: 1.2em;font-weight: bold;line-height: 1.25\">Related External Blog Posts<\/span><\/p>\n<div>\n<div>\n<p style=\"text-align: justify\"><a href=\"http:\/\/news.vanderbilt.edu\/vanderbiltmagazine\/brain-surgery-through-the-cheek\/\">Brain Surgery Through The Cheek<\/a><\/p>\n<p><a href=\"http:\/\/www.pneumatictips.com\/3278\/2013\/12\/uncategorized\/researchers-develop-fully-pneumatic-neurosurgical-robot\/\">Researchers Develop Fully Pneumatic Neurosurgical Robot<\/a><\/p>\n<p><a href=\"http:\/\/erc-assoc.org\/achievements\/mechanical-engineers-create-first-fully-pneumatic-robot-neurosurgical-interventions\">Mechanical Engineers Create First Fully Pneumatic Robot for Neurosurgical Interventions<\/a><\/p>\n<p><a href=\"http:\/\/www.pneumatictips.com\/3669\/2014\/08\/featured\/ccefp-update-additive-manufacturing-creates-mri-compatible-pneumatic-actuators\/\">CCEFP update: Additive manufacturing creates MRI-compatible pneumatic actuators<\/a><\/p>\n<h4>Journal Publications<\/h4>\n<ul>\n<li><strong>D.B. Comber<\/strong>, <strong>E.J. Barth<\/strong>,      and R.J. Webster III. \u201cDesign and Control of a Magnetic Resonance      Compatible Precision Pneumatic Active Cannula Robot,\u201d <em>ASME J Medical Devices<\/em>, 8(2):011003-1 to 011003-7, 2014. <a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/comber_JMD_Mar2014.pdf\">PDF<\/a><\/li>\n<\/ul>\n<ul>\n<li>J. Ueda,\u00a0<strong>D.B. Comber<\/strong>, J. Slightam, M. Turkseven, V. Gervasi, R.J. Webster III, and\u00a0<strong>E.J. Barth<\/strong>. \u201cMRI-Compatible Fluid-Powered Medical Devices,\u201d ASME Dynamic Systems &amp; Control Magazine, 1(2):13-17, June 2013. \u00a0<a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/UedaMRI-CompatibleDSCM13.pdf\">PDF<\/a><\/li>\n<li><strong>D.B. Comber<\/strong>, D. Cardona, R.J. Webster III, and <strong>E.J. Barth<\/strong>. \u201cPrecision Pneumatic      Robot for MRI-Guided Neurosurgery,\u201d <em>ASME      J Medical Devices<\/em>, 6(1):017587-1, 2012. <a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/DMD2012-6929_final.pdf\">PDF<\/a><\/li>\n<\/ul>\n<h4 style=\"text-align: justify\">Conference Publications<\/h4>\n<ul>\n<li><strong>D.B. Comber<\/strong>, J.E. Slightam, V.R. Gervasi, R.J. Webster III,      and<strong> E.J. Barth<\/strong>. \u201cDesign and      Precision Control of an MR-Compatible Flexible Fluidic Actuator,\u201d <em>Proc ASME\/Bath Symposium on Fluid Power      &amp; Motion Control<\/em>, Sarasota, FL, 2013. \u00a0<a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/FPMC_2013_Comber_final.pdf\">PDF <\/a><\/li>\n<\/ul>\n<ul>\n<li><strong>D.B. Comber<\/strong>, R.J. Webster III, and\u00a0<strong>E.J. Barth<\/strong>. \u201cOpen-Loop Tip Accuracy of an MRI-Compatible Active Cannula Robot,\u201d\u00a0<em>Hamlyn Symposium on Medical Robotics<\/em>, Royal Academy of Engineering, London, UK, 2013 \u00a0<a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/2013-Hamlyn-Comber-final.pdf\">PDF<\/a><\/li>\n<\/ul>\n<ul>\n<li><strong>D.B. Comber<\/strong>, D. Cardona, R.J. Webster III, and <strong>E.J. Barth<\/strong>. \u201cSliding Mode Control      of an MRI-compatible Pneumatically Actuated Robot,\u201d <em>Proc Bath\/ASME Symp Fluid Power &amp; Motion Control<\/em>, pp.      283-293, University of Bath, Bath, UK, 2012. \u00a0<a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/2012-FPMC-Comber-final.pdf\">PDF<\/a><\/li>\n<\/ul>\n<ul>\n<li><strong>D. Comber<\/strong> and <strong>E.J. Barth<\/strong>. \u201cPrecision Position Tracking of MR-Compatible Pneumatic Piston-Cylinder Using Sliding Model Control,\u201d <em>Proc Bath\/ASME Symp Fluid Power &amp; Motion Control,<\/em> pp. 1-7, Arlington, VA, 2011. <a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/1818\/2015\/07\/DSCC_Comber_Barth_submit.pdf\">PDF <\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p style=\"text-align: justify\">&nbsp;<\/p>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>MRI-Enabled Robotic non-Linear Incisionless Neurosurgery Curing Epilepsy with a Needle VIDEO &nbsp; The research goal is to create a robotic system that is compatible with the intense magnetic fields of a Magnetic Resonance Imaging (MRI) scanner.\u00a0 This system has exciting potential to transform neurosurgery from traumatic open surgical procedures, to minimally-invasive, MRI-guided interventions. The imaging&#8230;<\/p>\n","protected":false},"author":4087,"featured_media":0,"parent":2,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"tags":[],"class_list":["post-78","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/78","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/users\/4087"}],"replies":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/comments?post=78"}],"version-history":[{"count":36,"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/78\/revisions"}],"predecessor-version":[{"id":341,"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/78\/revisions\/341"}],"up":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/2"}],"wp:attachment":[{"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/media?parent=78"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/tags?post=78"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}