Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study
Identifieur interne : 001808 ( Pmc/Curation ); précédent : 001807; suivant : 001809Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study
Auteurs : Reza SeifabadiSource :
- International Journal of Computer Assisted Radiology and Surgery [ 1861-6410 ] ; 2011.
Abstract
Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer.
We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master–slave needle driver module using piezo motors was also added to the base robot.
Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5mm (STD=1.37mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master–slave needle driver was always below 0.1mm.
Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.
Url:
DOI: 10.1007/s11548-011-0598-9
PubMed: 21698389
PubMed Central: 3356244
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study</title><author><name sortKey="Seifabadi, Reza" sort="Seifabadi, Reza" uniqKey="Seifabadi R" first="Reza" last="Seifabadi">Reza Seifabadi</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">21698389</idno><idno type="pmc">3356244</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3356244</idno><idno type="RBID">PMC:3356244</idno><idno type="doi">10.1007/s11548-011-0598-9</idno><date when="2011">2011</date><idno type="wicri:Area/Pmc/Corpus">001808</idno><idno type="wicri:Area/Pmc/Curation">001808</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study</title><author><name sortKey="Seifabadi, Reza" sort="Seifabadi, Reza" uniqKey="Seifabadi R" first="Reza" last="Seifabadi">Reza Seifabadi</name></author></analytic><series><title level="j">International Journal of Computer Assisted Radiology and Surgery</title><idno type="ISSN">1861-6410</idno><idno type="eISSN">1861-6429</idno><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec id="S1"><title>Purpose</title><p id="P1">Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer.</p></sec><sec id="S2"><title>Methods</title><p id="P2">We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master–slave needle driver module using piezo motors was also added to the base robot.</p></sec><sec id="S3"><title>Results</title><p id="P3">Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5mm (STD=1.37mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master–slave needle driver was always below 0.1mm.</p></sec><sec id="S4"><title>Conclusion</title><p id="P4">Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.</p></sec></div></front></TEI><pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101499225</journal-id><journal-id journal-id-type="pubmed-jr-id">36351</journal-id><journal-id journal-id-type="nlm-ta">Int J Comput Assist Radiol Surg</journal-id><journal-id journal-id-type="iso-abbrev">Int J Comput Assist Radiol Surg</journal-id><journal-title-group><journal-title>International Journal of Computer Assisted Radiology and Surgery</journal-title></journal-title-group><issn pub-type="ppub">1861-6410</issn><issn pub-type="epub">1861-6429</issn></journal-meta><article-meta><article-id pub-id-type="pmid">21698389</article-id><article-id pub-id-type="pmc">3356244</article-id><article-id pub-id-type="doi">10.1007/s11548-011-0598-9</article-id><article-id pub-id-type="manuscript">NIHMS374817</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Seifabadi</surname><given-names>Reza</given-names></name></contrib><aff id="A1">Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA</aff><aff id="A2">Laboratory for Percutaneous surgery (Perk Lab), Queen's University, Kingston, ON, Canada</aff></contrib-group><contrib-group><contrib contrib-type="author"><name><surname>Song</surname><given-names>Sang-Eun</given-names></name></contrib><aff id="A3">Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA</aff></contrib-group><contrib-group><contrib contrib-type="author"><name><surname>Krieger</surname><given-names>Axel</given-names></name></contrib><aff id="A4">Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA</aff></contrib-group><contrib-group><contrib contrib-type="author"><name><surname>Cho</surname><given-names>Nathan Bongjoon</given-names></name></contrib><aff id="A5">Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA</aff></contrib-group><contrib-group><contrib contrib-type="author"><name><surname>Tokuda</surname><given-names>Junichi</given-names></name></contrib><aff id="A6">Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA</aff></contrib-group><contrib-group><contrib contrib-type="author"><name><surname>Fichtinger</surname><given-names>Gabor</given-names></name></contrib><aff id="A7">Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA</aff><aff id="A8">Laboratory for Percutaneous surgery (Perk Lab), Queen's University, Kingston, ON, Canada</aff></contrib-group><contrib-group><contrib contrib-type="author"><name><surname>Iordachita</surname><given-names>Iulian</given-names></name></contrib><aff id="A9">Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA</aff></contrib-group><author-notes><corresp id="CR1"><email>reza.seifabadi@queensu.ca</email></corresp></author-notes><pub-date pub-type="nihms-submitted"><day>12</day><month>5</month><year>2012</year></pub-date><pub-date pub-type="epub"><day>23</day><month>6</month><year>2011</year></pub-date><pub-date pub-type="ppub"><month>3</month><year>2012</year></pub-date><pub-date pub-type="pmc-release"><day>18</day><month>5</month><year>2012</year></pub-date><volume>7</volume><issue>2</issue><fpage>181</fpage><lpage>190</lpage><permissions><copyright-statement>© CARS 2011</copyright-statement><copyright-year>2011</copyright-year></permissions><abstract><sec id="S1"><title>Purpose</title><p id="P1">Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer.</p></sec><sec id="S2"><title>Methods</title><p id="P2">We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master–slave needle driver module using piezo motors was also added to the base robot.</p></sec><sec id="S3"><title>Results</title><p id="P3">Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5mm (STD=1.37mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master–slave needle driver was always below 0.1mm.</p></sec><sec id="S4"><title>Conclusion</title><p id="P4">Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.</p></sec></abstract><kwd-group><kwd>Transperineal prostate biopsy</kwd><kwd>MRI compatible</kwd><kwd>Pneumatic robot</kwd><kwd>Teleoperation</kwd><kwd>Accuracy evaluation</kwd><kwd>Phantom study</kwd></kwd-group></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
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