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Integrated System for Robot-Assisted in Prostate Biopsy in Closed MRI Scanner

Institution:	1Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, 75 Francis Street, Boston, MA 02115, USA. 2Intuitive Surgical Inc 3Johns Hopkins University, Baltimore, MD, USA 4School of Computing, Queen's University, Canada.
Publisher:	IEEE International Conference on Robotics and Automation ICRA
Publication Date:	May-2008
Pages:	2959-2962
Citation:	Proceedings of the IEEE International Conference on Robotics and Automation 2008; 2959-2962.
Appears in Collections:	NA-MIC, NCIGT, Prostate Group, SNR
Sponsors:	NIH U41 RR019703 NIH P01 CA067165 NIH R01 CA111288 NSF 9731748
Generated Citation:	Mewes P., Tokuda J., DiMaio S.P., Fischer G., Csoma C., Gobbi D., Tempany C.M., Fichtinger G., Hata N. Integrated System for Robot-Assisted in Prostate Biopsy in Closed MRI Scanner. Proceedings of the IEEE International Conference on Robotics and Automation 2008; 2959-2962.
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Prostate cancer biopsy is a routine medical procedure, yet conventional techniques suffer from low sensitivity attributed to suboptimal image guidance and needle placement. Targeting small lesions and foci (5 mm in diameter)is particularly prone to errors. We developed an integrated system to perform robot-assisted transperineal needle insertions into the prostate, under Magnetic Resonance Imaging (MRI) guidance. The system provides arbitrary needle trajectories and allows for simultaneous surveillance and correction of the needle path, based on intra-operative MRI. System functionality and data transfer and processing tests were conducted. Five lesions embedded in the gel phantom were targeted successfully, while communication delays (due to higher image frame rates) had no adverse affect on robot-software communication. The system was sufficiently resistant to high network loads and performed with an acceptable transfer rate.

Mewes-ICRA2008-fig1.jpg (10.142kB)