Robot-assisted needle placement in open-MRI: system architecture, integration and validation.
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.
DiMaio
S P
SP
Brigham and Women's Hospital, Harvard Medical School, USA. simond@bwh.harvard.edu
Pieper
S
S
Chinzei
K
K
Hata
N
N
Balogh
E
E
Fichtinger
G
G
Tempany
C M
CM
Kikinis
R
R
D001707:Biopsy, Needle; D003199:Computer Systems; D006801:Humans; D008279:Magnetic Resonance Imaging; D008297:Male; D011471:Prostatic Neoplasms / Q000175:diagnosis; D012371:Robotics / Q000295:instrumentation*