title: Robot-assisted needle placement in open-MRI: system architecture, integration and validation.
abstract: This work describes an integrated system for planning and performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance. The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's MR images. All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template. Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide. Results from in-scanner phantom experiments are provided.
authors.affiliation: Brigham and Women's Hospital, Harvard Medical School, USA. simond@bwh.harvard.edu
authors.forename: S P
authors.initials: SP
authors.lastname: DiMaio
authors.forename: S
authors.initials: S
authors.lastname: Pieper
authors.forename: K
authors.initials: K
authors.lastname: Chinzei
authors.forename: N
authors.initials: N
authors.lastname: Hata
authors.forename: E
authors.initials: E
authors.lastname: Balogh
authors.forename: G
authors.initials: G
authors.lastname: Fichtinger
authors.forename: C M
authors.initials: CM
authors.lastname: Tempany
authors.forename: R
authors.initials: R
authors.lastname: Kikinis
mesh_terms: D001707:Biopsy, Needle; D003199:Computer Systems; D006801:Humans; D008279:Magnetic Resonance Imaging; D008297:Male; D011471:Prostatic Neoplasms / Q000175:diagnosis; D012371:Robotics / Q000295:instrumentation*