title: Design of a novel MRI compatible manipulator for image guided prostate interventions.
abstract: This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.
authors.affiliation: Department of Radiology, The Johns Hopkins University, Baltimore, MD 21218, USA.
authors.forename: Axel
authors.initials: A
authors.lastname: Krieger
authors.forename: Robert C
authors.initials: RC
authors.lastname: Susil
authors.forename: Cynthia
authors.initials: C
authors.lastname: Ménard
authors.forename: Jonathan A
authors.initials: JA
authors.lastname: Coleman
authors.forename: Gabor
authors.initials: G
authors.lastname: Fichtinger
authors.forename: Ergin
authors.initials: E
authors.lastname: Atalar
authors.forename: Louis L
authors.initials: LL
authors.lastname: Whitcomb
mesh_terms: D000818:Animals; D001707:Biopsy, Needle / Q000295:instrumentation* / Q000379:methods; D004285:Dogs; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005240:Feasibility Studies; D021621:Imaging, Three-Dimensional / Q000295:instrumentation / Q000379:methods; D008279:Magnetic Resonance Imaging / Q000295:instrumentation* / Q000379:methods; D008297:Male; D008846:Micromanipulation / Q000295:instrumentation* / Q000379:methods; D011467:Prostate / Q000473:pathology* / Q000601:surgery*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation / Q000379:methods; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods