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Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

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Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

Auteurs : Gregory S. Fischer [États-Unis] ; Iulian Iordachita [États-Unis] ; Csaba Csoma [États-Unis] ; Junichi Tokuda [États-Unis] ; Philip W. Mewes [États-Unis] ; Clare M. Tempany [États-Unis] ; Nobuhiko Hata [États-Unis] ; Gabor Fichtinger [Canada]

Source :

IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation [ 2152-4092 ] ; 2008.

RBID : PMC:3113650

Abstract

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3113650

DOI: 10.1109/ROBOT.2008.4543587
PubMed: 21686038
PubMed Central: 3113650

Affiliations:

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PMC:3113650

Le document en format XML

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<front><div type="abstract" xml:lang="en"><p id="P1">Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.</p>
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Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

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