title: High-field MRI-compatible needle placement robot for prostate interventions.
abstract: This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive MRI guidance. The needle driver module provides for needle cannula rotation, needle insertion and cannula retraction to enable the brachytherapy procedure with the preloaded needles. The device mimics the manual physician gesture by two point grasping (hub and base) and provides direct force measurement of needle insertion force by fiber optic force sensors. The fabricated prototype is presented and an experiment with phantom trials in 3T MRI is analyzed to demonstrate the system compatibility.
authors.affiliation: Worcester Polytechnic Institute, Worcester, MA 01609, USA. haosu@wpi.edu
authors.forename: Hao
authors.initials: H
authors.lastname: Su
authors.forename: Alex
authors.initials: A
authors.lastname: Camilo
authors.forename: Gregory A
authors.initials: GA
authors.lastname: Cole
authors.forename: Nobuhiko
authors.initials: N
authors.lastname: Hata
authors.forename: Clare M
authors.initials: CM
authors.lastname: Tempany
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
mesh_terms: D001918:Brachytherapy / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation*; D008297:Male; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation*; D009339:Needles; D011471:Prostatic Neoplasms / Q000473:pathology / Q000532:radiotherapy*; D019919:Prosthesis Implantation / Q000295:instrumentation*; D011677:Punctures / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation; D014584:User-Computer Interface