title: A workspace-orientated needle-guiding robot for 3T MRI-guided transperineal prostate intervention: evaluation of in-bore workspace and MRI compatibility.
abstract: BACKGROUND
  Magnetic resonance imaging (MRI)-guided prostate interventions have been introduced to enhance the cancer detection. For accurate needle positioning, in-bore-operated robotic systems have been developed and optimal use of the confined in-bore space become a critical engineering challenge.
  
  
  METHODS
  As preliminary evaluation of our prostate intervention robot, we conducted a workspace design analysis, using a new evaluation method that we developed for in-bore-operated robots for transperineal prostate interventions, and an MRI compatibility study.
  
  
  RESULTS
  The workspace analysis resulted in the effective workspace (VW ) of 0.32, which is greater than that of our early prototype, despite the current robot being ca. 50% larger than the early prototype in sectional space. The MRI compatibility study resulted in < 15% signal:noise ratio (SNR) reduction.
  
  
  CONCLUSIONS
  The new workspace evaluation method quantifies the workspace utilization of the in-bore-operated robots for MRI-guided transperineal prostate interventions, providing a useful tool for evaluation and new robot design. The robot creates insignificant electromagnetic noise during typical prostate imaging sequences.
authors.affiliation: National Center for Image-Guided Therapy, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA. sam0song@gmail.com
authors.forename: Sang-Eun
authors.initials: SE
authors.lastname: Song
authors.forename: Nobuhiko
authors.initials: N
authors.lastname: Hata
authors.forename: Iulian
authors.initials: I
authors.lastname: Iordachita
authors.forename: Gabor
authors.initials: G
authors.lastname: Fichtinger
authors.forename: Clare
authors.initials: C
authors.lastname: Tempany
authors.forename: Junichi
authors.initials: J
authors.lastname: Tokuda
mesh_terms: D000328:Adult; D044963:Biopsy, Fine-Needle / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D061705:Image-Guided Biopsy / Q000295:instrumentation*; D008279:Magnetic Resonance Imaging / Q000295:instrumentation*; D008297:Male; D011467:Prostate / Q000033:anatomy & histology* / Q000166:cytology*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity