Robotic assistant for transperineal prostate interventions in 3T closed MRI.
Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of prostate cancer. The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection and tissue deformation. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring such interventions due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. We have designed a comprehensive robotic assistant system that allows prostate biopsy and brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner. We present a detailed design of the robotic manipulator and an evaluation of its usability and MR compatibility.
Center for Computer Integrated Surgery, Johns Hopkins University, USA. gfischer@jhu.edu
Gregory S
GS
Fischer
Simon P
SP
DiMaio
Iulian I
II
Iordachita
Gabor
G
Fichtinger
D004867:Equipment Design; D019544:Equipment Failure Analysis; D007090:Image Interpretation, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D008279:Magnetic Resonance Imaging / Q000295:instrumentation* / Q000379:methods; D053783:Magnetic Resonance Imaging, Interventional / Q000295:instrumentation* / Q000379:methods; D010502:Perineum / Q000033:anatomy & histology / Q000601:surgery; D011468:Prostatectomy / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods