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stereotactic neurosurgery robot

Meet the stereotactic neurosurgery robot.

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Identifying skull, brain, and tumors in MRI images

This project required identifying a target point for treatment, we used red to identify this tumor.

In addition, we wanted to avoid white matter in the brain during treatment, so we highlighted this in green.

Finally we identified the skull area in blue as an entry point for any surgical tools.

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Creating 3D objects from 2D images

Using Slicer 3D and the compiled 2D MRI images, we were able to create 3D objects from the stacks of images.

White Matter Identification

Creating a 3D object representing white matter in the brain was a bit more involved. We used a precompiled library of DWI (or diffusion weighted imagery) and performed tensor estimation so that we could identify areas of the brain with increased water content (suggesting white matter and blood flow).

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A Full Head

By overlaying all three objects, we had a model with:

skull identified in blue

white brain matter identified in green

and a tumor identified in red

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Collision Detection with VTK

Using Visual Tool Kit software, we ran collision detection between the probe and white matter object. Notice the readouts in the bottom of the program reporting "White matter collisions"

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Testing with an MRI Compatible Robot

We used a non-ferrous, MRI compatible robot. This had been previously developed by teams at WPI.

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