Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions
Identifieur interne : 002512 ( Main/Merge ); précédent : 002511; suivant : 002513Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions
Auteurs : Reza Seifabadi ; Iulian Iordachita ; Gabor FichtingerSource :
- Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics ; 2012.
Abstract
Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller.
Url:
DOI: 10.1109/BioRob.2012.6290862
PubMed: 24649480
PubMed Central: 3955892
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