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Integrated navigation and control software system for MRI-guided robotic prostate interventions

Institution:	1Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, 75 Francis Street, Boston, MA 02115, USA. tokuda@bwh.harvard.edu 2Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, HL 130, Worcester, MA 01609, USA 3Engineering Research Center for Computer Integrated Surgery, Johns Hopkins University, 3400 N. Charles St., Baltimore, MD 21218, USA 4Intuitive Surgical Inc., 950 Kifer Road, Sunnyvale, CA 94086, USA 5School of Computing, Queen’s University, 25 Union St., Kingston, Ontario, K7L 3N6, Canada 6Department of Computer Science, Friedrich-Alexander University Erlangen-Nuremberg, Martensstrasse 3, 91058 Erlangen, Germany
Publisher:	Elsevier Science
Publication Date:	Jan-2010
Journal:	Comput Med Imaging Graph
Volume Number:	34
Issue Number:	1
Pages:	3-8
Citation:	Comput Med Imaging Graph. 2010 Jan;34(1):3-8.
PubMed ID:	19699057
PMCID:	PMC2815337
Keywords:	Image-guided therapy, MRI-guided intervention, Prostate brachytherapy, Prostate biopsy, MRI-compatible robot, Surgical navigation
Appears in Collections:	NCIGT, NA-MIC, NAC, SLICER, SNR
Sponsors:	R01 CA111288 (CA) funded by NCI NIH HHS R01 CA124377 (CA) funded by NCI NIH HHS P01 CA067165 (CA) funded by NCI NIH HHS P41 RR13218 (RR) funded by NCRR NIH HHS R01 CA109246 (CA) funded by NCI NIH HHS U41 RR019703 (RR) funded by NCRR NIH HHS U54 EB005149 (EB) funded by NIBIB NIH HHS R01 CA111288-04 (CA) funded by NCI NIH HHS
Generated Citation:	Tokuda J., Fischer G.S., DiMaio S.P., Gobbi D.G., Csoma C., Mewes P.W., Fichtinger G., Tempany C.M., Hata N. Integrated navigation and control software system for MRI-guided robotic prostate interventions. Comput Med Imaging Graph. 2010 Jan;34(1):3-8. PMID: 19699057. PMCID: PMC2815337.
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A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.

Tokuda-ComputMedImagingGraph2010-fig5.jpg (148.858kB)