title: Three-axis MR-conditional robot for high-intensity focused ultrasound for treating prostate diseases transrectally.
abstract: BACKGROUND
  A prototype magnetic resonance image (MRI)-conditional robot was developed for navigating a high-intensity focused ultrasound (HIFU) system in order to treat prostate cancer transrectally.
  
  
  METHODS
  The developed robotic device utilizes three PC-controlled axes: a linear axis for motion along the rectum, an angular axis for rotation in the rectum, and a linear axis to lift the robot up and down. Experiments with the system were performed in a 1.5-T MRI system using gel phantoms.
  
  
  RESULTS
  The robot was successfully operated in a 1.5-T clinical MRI system. The effect of piezoelectric motors and optical encoders was quantified based on the reduction of signal to noise ratio. Discrete and overlapping lesions were created accurately by moving the HIFU transducer with the robotic device.
  
  
  CONCLUSIONS
  An MRI-conditional HIFU robot was developed which can create controlled thermal lesions under MRI guidance. The intention is to use this robot transrectally in the future for the treatment of prostate cancer.
authors: MEDSONIC LTD, Limassol, Cyprus ; Biomedical Engineering Department, City University, London, UK.
authors: Christos
authors: C
authors: Yiallouras
authors: Radiology, Polikliniki Igia, Limassol, Cyprus.
authors: Kleanthis
authors: K
authors: Ioannides
authors: Radiology-Medical Physics, University Medical Center Freiburg, Freiburg, Germany.
authors: Tetiana
authors: T
authors: Dadakova
authors: Radiology-Medical Physics, University Medical Center Freiburg, Freiburg, Germany.
authors: Matt
authors: M
authors: Pavlina
authors: Radiology-Medical Physics, University Medical Center Freiburg, Freiburg, Germany.
authors: Michael
authors: M
authors: Bock
authors: MEDSONIC LTD, Limassol, Cyprus ; Electrical Engineering Department, Cyprus University of Technology, Limassol, Cyprus.
authors: Christakis
authors: C
authors: Damianou
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