Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions
Identifieur interne : 001D89 ( Pmc/Checkpoint ); précédent : 001D88; suivant : 001D90Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions
Auteurs : Sang-Eun Song ; Nathan Cho ; Junichi Tokuda ; Nobuhiko Hata ; Clare Tempany ; Gabor Fichtinger ; Iulian IordachitaSource :
- Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics ; 2010.
Abstract
Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.
Url:
DOI: 10.1109/BIOROB.2010.5626987
PubMed: 21132087
PubMed Central: 2995896
Affiliations:
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<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101521127</journal-id><journal-id journal-id-type="pubmed-jr-id">37005</journal-id><journal-id journal-id-type="nlm-ta">Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron</journal-id><journal-title>Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics</journal-title></journal-meta><article-meta><article-id pub-id-type="pmid">21132087</article-id><article-id pub-id-type="pmc">2995896</article-id><article-id pub-id-type="doi">10.1109/BIOROB.2010.5626987</article-id><article-id pub-id-type="manuscript">NIHMS245687</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Song</surname><given-names>Sang-Eun</given-names></name><aff id="A1">National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US</aff></contrib><contrib contrib-type="author"><name><surname>Cho</surname><given-names>Nathan</given-names></name><aff id="A2">National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US</aff></contrib><contrib contrib-type="author"><name><surname>Tokuda</surname><given-names>Junichi</given-names></name><aff id="A3">National Center for Image-Guided Therapy, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, US</aff></contrib><contrib contrib-type="author"><name><surname>Hata</surname><given-names>Nobuhiko</given-names></name><aff id="A4">National Center for Image-Guided Therapy, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, US</aff></contrib><contrib contrib-type="author"><name><surname>Tempany</surname><given-names>Clare</given-names></name><aff id="A5">National Center for Image-Guided Therapy, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, US</aff></contrib><contrib contrib-type="author"><name><surname>Fichtinger</surname><given-names>Gabor</given-names></name><aff id="A6">School of Computing, Queen’s University, Kingston, Ontario, Canada</aff></contrib><contrib contrib-type="author"><name><surname>Iordachita</surname><given-names>Iulian</given-names></name><aff id="A7">National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US</aff></contrib></contrib-group><author-notes><corresp id="FN1">Corresponding author: S. Song (<email>sam0song@gmail.com</email>)</corresp></author-notes><pub-date pub-type="nihms-submitted"><day>26</day><month>10</month><year>2010</year></pub-date><pub-date pub-type="ppub"><day>26</day><month>9</month><year>2010</year></pub-date><pub-date pub-type="pmc-release"><day>2</day><month>12</month><year>2010</year></pub-date><volume>2010</volume><fpage>796</fpage><lpage>801</lpage><abstract><p id="P1">Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.</p></abstract><contract-num rid="CA1">R01 CA111288-01A1
||CA</contract-num><contract-sponsor id="CA1">National Cancer Institute : NCI</contract-sponsor></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Cho, Nathan" sort="Cho, Nathan" uniqKey="Cho N" first="Nathan" last="Cho">Nathan Cho</name><name sortKey="Fichtinger, Gabor" sort="Fichtinger, Gabor" uniqKey="Fichtinger G" first="Gabor" last="Fichtinger">Gabor Fichtinger</name><name sortKey="Hata, Nobuhiko" sort="Hata, Nobuhiko" uniqKey="Hata N" first="Nobuhiko" last="Hata">Nobuhiko Hata</name><name sortKey="Iordachita, Iulian" sort="Iordachita, Iulian" uniqKey="Iordachita I" first="Iulian" last="Iordachita">Iulian Iordachita</name><name sortKey="Song, Sang Eun" sort="Song, Sang Eun" uniqKey="Song S" first="Sang-Eun" last="Song">Sang-Eun Song</name><name sortKey="Tempany, Clare" sort="Tempany, Clare" uniqKey="Tempany C" first="Clare" last="Tempany">Clare Tempany</name><name sortKey="Tokuda, Junichi" sort="Tokuda, Junichi" uniqKey="Tokuda J" first="Junichi" last="Tokuda">Junichi Tokuda</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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