An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention.
This paper reports the development, evaluation, and first clinical trials of the access to the prostate tissue (APT) II system-a scanner independent system for magnetic resonance imaging (MRI)-guided transrectal prostate interventions. The system utilizes novel manipulator mechanics employing a steerable needle channel and a novel six degree-of-freedom hybrid tracking method, comprising passive fiducial tracking for initial registration and subsequent incremental motion measurements. Targeting accuracy of the system in prostate phantom experiments and two clinical human-subject procedures is shown to compare favorably with existing systems using passive and active tracking methods. The portable design of the APT II system, using only standard MRI image sequences and minimal custom scanner interfacing, allows the system to be easily used on different MRI scanners.
Department ofMechanical Engineering and the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA. krieger.axel@gmail.com
Axel
A
Krieger
Iulian I
II
Iordachita
Peter
P
Guion
Anurag K
AK
Singh
Aradhana
A
Kaushal
Cynthia
C
Ménard
Peter A
PA
Pinto
Kevin
K
Camphausen
Gabor
G
Fichtinger
Louis L
LL
Whitcomb
D004867:Equipment Design; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation* / Q000379:methods; D008297:Male; D008954:Models, Biological; D019047:Phantoms, Imaging; D011471:Prostatic Neoplasms / Q000473:pathology / Q000601:surgery*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods