Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions
Identifieur interne : 002292 ( Pmc/Checkpoint ); précédent : 002291; suivant : 002293Pneumatically 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.
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:
DOI: 10.1109/ROBOT.2008.4543587
PubMed: 21686038
PubMed Central: 3113650
Affiliations:
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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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<contrib-group><contrib contrib-type="author"><name><surname>Fischer</surname>
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<abstract><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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