title: Magnetic resonance imaging compatible robotic system for fully automated brachytherapy seed placement.
abstract: OBJECTIVE
  To introduce the development of the first magnetic resonance imaging (MRI)-compatible robotic system capable of automated brachytherapy seed placement.
  
  
  METHODS
  An MRI-compatible robotic system was conceptualized and manufactured. The entire robot was built of nonmagnetic and dielectric materials. The key technology of the system is a unique pneumatic motor that was specifically developed for this application. Various preclinical experiments were performed to test the robot for precision and imager compatibility.
  
  
  RESULTS
  The robot was fully operational within all closed-bore MRI scanners. Compatibility tests in scanners of up to 7 Tesla field intensity showed no interference of the robot with the imager. Precision tests in tissue mockups yielded a mean seed placement error of 0.72 +/- 0.36 mm.
  
  
  CONCLUSIONS
  The robotic system is fully MRI compatible. The new technology allows for automated and highly accurate operation within MRI scanners and does not deteriorate the MRI quality. We believe that this robot may become a useful instrument for image-guided prostate interventions.
authors.affiliation: URobotics Laboratory, Department of Urology, Johns Hopkins Medical Institutions, Baltimore, Maryland, USA. muntener@jhmi.edu
authors.forename: Michael
authors.initials: M
authors.lastname: Muntener
authors.forename: Alexandru
authors.initials: A
authors.lastname: Patriciu
authors.forename: Doru
authors.initials: D
authors.lastname: Petrisor
authors.forename: Dumitru
authors.initials: D
authors.lastname: Mazilu
authors.forename: Herman
authors.initials: H
authors.lastname: Bagga
authors.forename: Louis
authors.initials: L
authors.lastname: Kavoussi
authors.forename: Kevin
authors.initials: K
authors.lastname: Cleary
authors.forename: Dan
authors.initials: D
authors.lastname: Stoianovici
mesh_terms: D001918:Brachytherapy / Q000295:instrumentation*; D004867:Equipment Design; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation*; D008297:Male; D011471:Prostatic Neoplasms / Q000473:pathology / Q000532:radiotherapy*; D015203:Reproducibility of Results; D012371:Robotics