title: MRI guided focused ultrasound robotic system for the treatment of gynaecological tumors.
abstract: BACKGROUND
  A novel MRI-conditional robot that navigates focused ultrasound (FUS) for the treatment of gynaecological tumors endovaginally was developed.
  
  
  METHODS
  The robotic system has two PC-controlled axes (linear and angular). The robotic system was manufactured using a digital manufacturing 3D printer using acrylonitrile butadiene styrene (ABS) plastic. Evaluation of the device was performed in a 1.5T MRI using excised porcine tissue.
  
  
  RESULTS
  The robotic system was successfully tested for MRI safety and compatibility. The robotic system has been tested for its functionality for creating multiple (overlapping) lesions in an in vitro model.
  
  
  CONCLUSIONS
  An MRI-conditional FUS robotic system was developed that has the potential to create thermal lesions with the intention of treating gynaecological tumors. In the future a third axis will be needed that lifts the robot up or down in order to access vaginas which are at a variable height from the MRI table.
authors: Cyprus University of Technology, Department of Electrical Engineering, computer engineering and Informatics, Limassol, Cyprus.
authors: Eva
authors: E
authors: Epaminonda
authors: Cyprus University of Technology, Department of Electrical Engineering, computer engineering and Informatics, Limassol, Cyprus.
authors: Theoharis
authors: T
authors: Drakos
authors: Cyprus University of Technology, Department of Electrical Engineering, computer engineering and Informatics, Limassol, Cyprus.
authors: Christina
authors: C
authors: Kalogirou
authors: Cyprus University of Technology, Department of Electrical Engineering, computer engineering and Informatics, Limassol, Cyprus.
authors: Margarita
authors: M
authors: Theodoulou
authors: City University, Department of Biomedical Engineering, London, UK.|MEDSONIC, Ltd Research and Development, Limassol, Cyprus.
authors: Christos
authors: C
authors: Yiallouras
authors: Cyprus University of Technology, Department of Electrical Engineering, computer engineering and Informatics, Limassol, Cyprus.|MEDSONIC, Ltd Research and Development, Limassol, Cyprus.
authors: Christakis
authors: C
authors: Damianou
mesh_terms: D000818:Animals; D005260:Female; D005833:Genital Neoplasms, Female / Q000601:surgery*; D057086:High-Intensity Focused Ultrasound Ablation / Q000379:methods*; D008279:Magnetic Resonance Imaging; D065287:Robotic Surgical Procedures / Q000379:methods*; D013552:Swine
keywords: MRI; gynaecological; robot