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MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement
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Fischer G.S.1, Iordachita I.1, Csoma C.1, Tokuda J.1, DiMaio S.P.2, Tempany C.M.2, Hata N.2, Fichtinger G.1
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. |
Publisher: |
IEEE/ASME Transactions on Mechatronics |
Publication Date: |
Jun-2008 |
Volume Number: |
13 |
Issue Number: |
3 |
Pages: |
295-305 |
Citation: |
IEEE/ASME Transactions on Mechatronics June 2008; 13(3):295-305. |
PubMed ID: |
21057608 |
PMCID: |
PMC2974180 |
Keywords: |
Magnetic resonance imaging (MRI) compatible robotics, biopsy, pneumatic control, prostate brachytherapy |
Appears in Collections: |
NCIGT, Prostate Group, SNR |
Sponsors: |
NIH Bioengineering Research Partnership R01 CA111288-01 NIH U41 RR019703 Congressionally Directed Medical Research Programs Prostate Cancer Research Program (CDMRP PCRP) Fellowship W81XWH-07-1-0171 |
Generated Citation: |
Fischer G.S., Iordachita I., Csoma C., Tokuda J., DiMaio S.P., Tempany C.M., Hata N., Fichtinger G. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement. IEEE/ASME Transactions on Mechatronics June 2008; 13(3):295-305. PMID: 21057608. PMCID: PMC2974180. |
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Magnetic resonance imaging (MRI) can provide highquality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use 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 intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system.
Additional Material
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