title: Integrated navigation and control software system for MRI-guided robotic prostate interventions.
abstract: A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.
authors.affiliation: Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, 75 Francis Street, Boston, MA 02115, USA. tokuda@bwh.harvard.edu
authors.forename: Junichi
authors.initials: J
authors.lastname: Tokuda
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
authors.forename: Simon P
authors.initials: SP
authors.lastname: DiMaio
authors.forename: David G
authors.initials: DG
authors.lastname: Gobbi
authors.forename: Csaba
authors.initials: C
authors.lastname: Csoma
authors.forename: Philip W
authors.initials: PW
authors.lastname: Mewes
authors.forename: Gabor
authors.initials: G
authors.lastname: Fichtinger
authors.forename: Clare M
authors.initials: CM
authors.lastname: Tempany
authors.forename: Nobuhiko
authors.initials: N
authors.lastname: Hata
mesh_terms: D000465:Algorithms; D001707:Biopsy, Needle / Q000379:methods*; D003195:Computer Communication Networks; D005246:Feedback; D008279:Magnetic Resonance Imaging / Q000379:methods*; D011468:Prostatectomy / Q000379:methods*; D012371:Robotics / Q000379:methods*; D012984:Software; D012985:Software Design; D025321:Surgery, Computer-Assisted / Q000379:methods*; D018511:Systems Integration
references.citation: Invest Radiol. 2000 Aug;35(8):513-9
references.pmid: 10946979
references.citation: Radiology. 2001 Jul;220(1):263-8
references.pmid: 11426008
references.citation: Minim Invasive Ther Allied Technol. 2007;16(4):241-8
references.pmid: 17763098
references.citation: Radiother Oncol. 2006 Jul;80(1):73-7
references.pmid: 16870290
references.citation: Invest Radiol. 2005 Jul;40(7):458-63
references.pmid: 15973138
references.citation: Int J Radiat Oncol Biol Phys. 1998 Oct 1;42(3):507-15
references.pmid: 9806508
references.citation: Int J Med Robot. 2009 Dec;5(4):423-34
references.pmid: 19621334
references.citation: Minim Invasive Ther Allied Technol. 2007;16(4):222-9
references.pmid: 17763096
references.citation: Med Image Comput Comput Assist Interv. 2006;9(Pt 1):519-26
references.pmid: 17354930
references.citation: J Magn Reson Imaging. 2001 Jun;13(6):967-75
references.pmid: 11382961
references.citation: IEEE Trans Biomed Eng. 2005 Jun;52(6):965-74
references.pmid: 15977726
references.citation: Magn Reson Med. 2004 Sep;52(3):683-7
references.pmid: 15334592
references.citation: Med Image Comput Comput Assist Interv. 2007;10(Pt 2):50-8
references.pmid: 18044552
references.citation: J Magn Reson Imaging. 2008 Feb;27(2):356-67
references.pmid: 18219689
references.citation: J Urol. 2000 Aug;164(2):385-7
references.pmid: 10893591
references.citation: Eur Urol. 2008 Sep;54(3):517-27
references.pmid: 18571309
references.citation: IEEE Trans Biomed Eng. 2005 Feb;52(2):306-13
references.pmid: 15709668
references.citation: J Magn Reson Imaging. 2008 May;27(5):1130-8
references.pmid: 18407542
references.citation: J Magn Reson Imaging. 2007 Sep;26(3):688-94
references.pmid: 17729363
references.citation: Eur Radiol. 2005 Jan;15(1):174-82
references.pmid: 15351902
references.citation: IEEE ASME Trans Mechatron. 2008 Jun 1;13(3):295-305
references.pmid: 21057608