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Preclinical Evaluation of an MRI-compatible Pneumatic Robot
Institution:
 1Department of Radiology Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
2Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.
3Laboratory for Computer Science, Johns Hopkins University, Baltimore, MD, USA.
4School of Computing, Queen's University, Kingston, ON, Canada.
Publisher:
 Springer Publishing
Publication Date:
 Nov-2012
Journal:
 Int J Comput Assist Radiol Surg
Volume Number:
 7
Issue Number:
 6
Pages:
 949-57
Citation:
 Int J Comput Assist Radiol Surg. 2012 Nov;7(6):949-57.
PubMed ID:
 22678723
Keywords:
 MRI-guided therapy, Biopsy, Medical robotics, Brachytherapy, Prostate cancer
Appears in Collections:
SNR, NCIGT, Prostate Group, SPL
Sponsors:
 R01 CA111288
P01 CA067165
R01 CA124377
P41 RR019703
P41 EB015898
R01 CA138586
Center for Integration of Medicine (CIMIT 11-325)
New Energy and Industrial Technology Development Organization (NEDO), Japan
BWH/Siemens Grant
Generated Citation:
 Tokuda J., Song S-E., Fischer G.S., Iordachita I.I., Seifabadi R., Cho N.B., Tuncali K., Fichtinger G., Tempany C.M., Hata N. Preclinical Evaluation of an MRI-compatible Pneumatic Robot. Int J Comput Assist Radiol Surg. 2012 Nov;7(6):949-57. PMID: 22678723.
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Purpose: To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. Methods: We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner. The robot is designed to guide a needle toward a lesion so that a radiologist can manually insert it in the bore. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between −5.7◦ and 5.7◦ horizontally and between −5.7◦ and 4.3◦ vertically in the MRI scanner after sterilizing and draping the device. Results: The robot positioned the needle for angulated insertion as specified on the navigation software with overall targeting error of 0.8 ± 0.5mm along the horizontal axis and 0.8 ± 0.8mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4mm. Conclusions: Our preclinical evaluation demonstrated that the MRI-compatible pneumatic robot for needle placement with the capability to angulate the needle insertion path provides targeting accuracy feasible for clinical MRI-guided prostate interventions. The clinical feasibility has to be established in a clinical study.

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