title: MRI-guided focused ultrasound robotic system for the treatment of bone cancer.
abstract: BACKGROUND
  A novel MRI-conditional robot was developed that navigates a focused ultrasound (FUS) transducer. With this robotic system the transducer can access bones. The intended application is pain palliation from bone cancer using thermal ablation using FUS.
  
  
  METHODS
  The robotic system has four computer-controlled axes (three linear and one angular). The robotic system was manufactured using a digital manufacturing 3D printer, using acrylonitrile butadiene styrene (ABS) plastic. MRI-conditional optical encoders were used to accurately control the robotic system.
  
  
  RESULTS
  The robotic system was successfully tested for MRI safety and compatibility, using fast-gradient pulse sequences and a liquid phantom. The robotic system has been tested for its functionality for creating discrete and multiple (overlapping) lesions in a gel phantom.
  
  
  CONCLUSIONS
  An MRI-conditional FUS robotic system was developed that has the potential to create thermal lesions with the intention of treating bone cancer for the purpose of pain palliation. Copyright © 2016 John Wiley & Sons, Ltd.
authors.affiliation: City University, London, UK.
authors.forename: Georgios
authors.initials: G
authors.lastname: Menikou
authors.affiliation: Cyprus University of Technology, Limassol, Cyprus.|Medsonic Ltd, Limassol, Cyprus.
authors.forename: Christos
authors.initials: C
authors.lastname: Yiallouras
authors.affiliation: Cyprus University of Technology, Limassol, Cyprus.
authors.forename: Marinos
authors.initials: M
authors.lastname: Yiannakou
authors.affiliation: Cyprus University of Technology, Limassol, Cyprus.
authors.forename: Christakis
authors.initials: C
authors.lastname: Damianou
mesh_terms: D000181:Acrylonitrile / Q000737:chemistry; D001859:Bone Neoplasms / Q000601:surgery*; D002070:Butadienes / Q000737:chemistry; D004867:Equipment Design; D005782:Gels; D006801:Humans; D008279:Magnetic Resonance Imaging; D019047:Phantoms, Imaging; D066330:Printing, Three-Dimensional; D065287:Robotic Surgical Procedures; D012984:Software; D013314:Stress, Mechanical; D013343:Styrenes / Q000737:chemistry; D025321:Surgery, Computer-Assisted; D014159:Transducers; D014465:Ultrasonics
chemical_list: D002070:Butadienes; D005782:Gels; D013343:Styrenes; C031763:1,3-butadiene; D000181:Acrylonitrile
keywords: MRI; bone; cancer; pain; robot; ultrasound