MRI guided focused ultrasound robotic system for animal experiments

摘要

Abstract Background In this paper an MRI‐guided focused ultrasound (MRgFUS) robotic system was developed that can be used for conducting experiments in small animals.The target for this robotic system regarding motion was to move a therapeutic ultrasound transducer in two Cartesian axes. Methods A single element spherically focused transducer of 3?cm diameter, focusing at 7?cm and operating at 0.4?MHz was used. The positioning device incorporates only MRI compatible materials. The propagation of ultrasound is a bottom to top approach. The 2‐D positioning device is controlled by custom‐made software and a custom‐made electronic system which controls the two piezoelectric motors. Results The system was tested successfully in agar/silica/evaporated milk phantom for various tasks (robot motion, MR compatibility, and MR thermometry). The robotic system is capable of moving the focused ultrasound transducer to perform MR‐guided focused ultrasound experiments in small animals. Conclusions This system has the potential to be deployed as a cost effective solution for performing experiments in small animals.