Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention
This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI guidance with the goals of providing 1) MRI compatibility; 2)...
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Published in | IEEE/ASME transactions on mechatronics Vol. 18; no. 1; pp. 273 - 284 |
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Main Authors | , , , , , , |
Format | Journal Article |
Language | English |
Published |
United States
IEEE
01.02.2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
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Summary: | This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI guidance with the goals of providing 1) MRI compatibility; 2) MRI-guided needle placement with accuracy sufficient for targeting clinically significant prostate cancer foci; 3) reducing interventional procedure times (thus increasing patient comfort and reducing opportunity for needle targeting error due to patient motion); 4) enabling real-time MRI monitoring of interventional procedures; and 5) reducing the opportunities for error that arise in manually actuated needle placement. The design of the robot, employing piezoceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of an MRI compatibility study show no reduction of MRI signal-to-noise ratio (SNR) with the disabled motors. Enabling the motors reduces the SNR by 80% without radio frequency (RF) shielding, but the SNR is only reduced by 40-60% with RF shielding. The addition of RF shielding is shown to significantly reduce image SNR degradation caused by the presence of the robotic device. An accuracy study of MRI-guided biopsy needle placements in a prostate phantom is reported. The study shows an average in-plane targeting error of 2.4 mm with a maximum error of 3.7 mm. These data indicate that the system's needle targeting accuracy is similar to that obtained with a previously reported manually actuated system, and is sufficient to reliably sample clinically significant prostate cancer foci under MRI guidance. |
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Bibliography: | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 ObjectType-Article-1 ObjectType-Feature-2 |
ISSN: | 1083-4435 1941-014X |
DOI: | 10.1109/TMECH.2011.2163523 |