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Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI

Institution:	Department of Radiology, Brigham and Women’s Hospital and Harvard Medical School, 75 Francis St., Boston, MA 02115, USA
Publisher:	Med Image Comput Comput Assist Interv. MICCAI 2008
Publication Date:	Sep-2008
Volume Number:	11
Issue Number:	Pt 2
Pages:	701-709
Citation:	Int Conf Med Image Comput Comput Assist Interv. 2008;11(Pt 2):701-709.
PubMed ID:	18982666
PMCID:	PMC2692941
Appears in Collections:	NCIGT, NA-MIC, NAC, Prostate Group, SLICER, SNR
Sponsors:	1R01 CA111288/CA/NCI NIH HHS/United States 1R01 CA124377/CA/NCI NIH HHS/United States 5P01 CA067165/CA/NCI NIH HHS/United States 5R01 CA109246/CA/NCI NIH HHS/United States P41 RR13218-11/RR/NCRR NIH HHS/United States R01 CA109246-04/CA/NCI NIH HHS/United States R01 CA111288-03/CA/NCI NIH HHS/United States R01 CA124377-02/CA/NCI NIH HHS/United States U41 RR019703-04/RR/NCRR NIH HHS/United States U54 EB005149-05/EB/NIBIB NIH HHS/United States
Generated Citation:	Tokuda J., Fischer G.S.., Csoma C., DiMaio S.P.., Gobbi D.G.., Fichtinger G., Tempany C.M.., Hata N. Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI. Int Conf Med Image Comput Comput Assist Interv. 2008;11(Pt 2):701-709. PMID: 18982666. PMCID: PMC2692941.
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A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images. Six states of the system called “workphases” are defined based on the clinical scenario to synchronize behaviors of all components. The wizard-style user interface allows easy following of the clinical workflow. On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI. These features are supported by calibration of robot and image coordinates by the fiducial-based registration. The performance test shows that the registration error of the system was 2.6 mm in the prostate area, and it displayed real-time 2D image 1.7 s after the completion of image acquisition.

Tokuda-MICCAI2008-fig1.jpg (303.363kB)