Transperineal prostate intervention: robot for fully automated MR imaging--system description and proof of principle in a canine model.
The study was approved by the animal care and use committee. The purpose of the study was to prospectively establish proof of principle in vivo in canines for a magnetic resonance (MR) imaging-compatible robotic system designed for image-guided prostatic needle intervention. The entire robot is built with nonmagnetic and dielectric materials and in its current configuration is designed to perform fully automated brachytherapy seed placement within a closed MR imager. With a 3.0-T imager, in four dogs the median error for MR imaging-guided needle positioning and seed positioning was 2.02 mm (range, 0.86-3.18 mm) and 2.50 mm (range, 1.45-10.54 mm), respectively. The robotic system is capable of accurate MR imaging-guided prostatic needle intervention within a standard MR imager in vivo in a canine model.
Muntener
Michael
M
URobotics Laboratory, Department of Urology, Johns Hopkins Medical Institutions, JHBMC, MFL-W115, 5200 Eastern Ave, Baltimore, MD 21224, USA. muntener@jhmi.edu
Patriciu
Alexandru
A
Petrisor
Doru
D
Schär
Michael
M
Ursu
Daniel
D
Song
Danny Y
DY
Stoianovici
Dan
D
D000818:Animals; D001707:Biopsy, Needle / Q000379:methods*; D001918:Brachytherapy / Q000295:instrumentation; D004285:Dogs; D004867:Equipment Design; D007091:Image Processing, Computer-Assisted; D053783:Magnetic Resonance Imaging, Interventional; D008297:Male; D011446:Prospective Studies; D011471:Prostatic Neoplasms / Q000175:diagnosis* / Q000532:radiotherapy*; D012371:Robotics