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Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions
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Fischer G.S.1, Iordachita I.1, Csoma C.1, Tokuda J.2, Mewes P.W.2, Tempany C.M.2, Hata N.2, Fichtinger G.3
Institution: |
1Johns Hopkins University, Baltimore, MD, USA 2Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, 75 Francis Street, Boston, MA 02115, USA. 3Queen's University, Kingston, ON, Canada |
Publisher: |
International Conference on Robotics and Automation ICRA |
Publication Date: |
Jun-2008 |
Journal: |
IEEE Int Conf Robot Autom. |
Pages: |
2489-2495 |
Citation: |
IEEE Int Conf Robot Autom. 2008;2489-2495. |
PubMed ID: |
21686038 |
PMCID: |
PMC3113650 |
Appears in Collections: |
NCIGT, Prostate Group, SNR, SPL |
Sponsors: |
R01 CA111288-01A1 () funded by NCI NIH HHS R01 EB002963-01 () funded by NIBIB NIH HHS U41 RR019703-01A20015 () funded by NCRR NIH HHS |
Generated Citation: |
Fischer G.S., Iordachita I., Csoma C., Tokuda J., Mewes P.W., Tempany C.M., Hata N., Fichtinger G. Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions. IEEE Int Conf Robot Autom. 2008;2489-2495. PMID: 21686038. PMCID: PMC3113650. |
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| Paper: | Download, View online |
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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 realtime 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.
Additional Material
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