High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions

被引：16

作者：

Su, Hao ^{[1
]}

Camilo, Alex ^{[1
]}

Cole, Gregory A. ^{[1
]}

Hata, Nobuhiko ^{[2
]}

Tempany, Clare M. ^{[2
]}

Fischer, Gregory S. ^{[1
]}

机构：

[1] Worcester Polytech Inst, Worcester, MA 01609 USA

[2] Harvard Med Sch, Brigham & Womens Hosp, Boston, MA USA

来源：

MEDICINE MEETS VIRTUAL REALITY 18 | 2011年 / 163卷

关键词：

MRI compatible robot; prostate brachytherapy; biopsy;

D O I：

10.3233/978-1-60750-706-2-623

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

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-off-reedom (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.

引用

页码：623 / 629

页数：7

共 15 条

[1]

Chinzei K, 2000, LECT NOTES COMPUT SC, V1935, P921

[2]

Cole C., 2010, 12 INT S EXP ROB ISE

[3] MRI-compatible pneumatic robot for transperineal prostate needle placement [J].

Fischer, Gregory S. ;

Iordachita, Iulian ;

Csoma, Csaba ;

Tokuda, Junichi ;

DiMaio, Simon P. ;

Tempany, Clare M. ;

Hata, Nobuhiko ;

Fichtinger, Gabor .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2008, 13 (03) :295-305

[4]

Jemal A., 2009, CA-CANCER J CLIN, V59

[5]

Krieger A., P IEEE INT C ROB AUT

[6]

Krieger A, 2007, LECT NOTES COMPUT SC, V4792, P59

[7]

Mahvash Mohsen, 2009, 2009 IEEE International Conference on Robotics and Automation (ICRA), P3097, DOI 10.1109/ROBOT.2009.5152617

[8] Prostate cancer: Assessment of risk using digital rectal, examination, tumor grade, prostate-specific antigen, and systematic biopsy [J].

Presti, JC .

RADIOLOGIC CLINICS OF NORTH AMERICA, 2000, 38 (01) :49-+

[9]

Song S.E., 2010, P IEEE INT C ROB AUT

[10]

Stoianovici D, 2007, MINIM INVASIV THER, V16, P241, DOI 10.1080/13645700701520735

← 1 2 →