Robotic System for MRI-Guided Focal Laser Ablation in the Prostate

被引：48

作者：

Chen, Yue ^{[1
]}

Squires, Alexander ^{[1
]}

Seifabadi, Reza ^{[2
]}

Xu, Sheng ^{[2
]}

Agarwal, Harsh Kumar ^{[3
,4
]}

Bernardo, Marcelino ^{[2
]}

Pinto, Peter A. ^{[2
]}

Choyke, Peter ^{[2
,5
]}

Wood, Bradford ^{[2
]}

Tse, Zion Tsz Ho ^{[1
]}

机构：

[1] Univ Georgia, Coll Engn, Athens, GA 30605 USA

[2] NIH, Dept Radiol & Imaging Sci, Ctr Intervent Oncol, Bldg 10, Bethesda, MD 20892 USA

[3] Philips Res North Amer, Briarcliff Manor, NY 10510 USA

[4] Samsung Res & Dev Inst, Bangalore 560037, Karnataka, India

[5] NCI, Ctr Canc Res, Bethesda, MD 20892 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2017年 / 22卷 / 01期

基金：

美国国家科学基金会; 美国国家卫生研究院;

关键词：

Focal laser ablation (FLA); image guided therapy; MRI; prostate cancer; robot; CANCER; THERAPY; MOTOR;

D O I：

10.1109/TMECH.2016.2611570

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

MRI-conditional robotic platforms have proved to be an effective approach for image-guided interventions. In this study, a computer-assisted, pneumatically actuated robot is designed, built, and tested for MRI-guided prostate cancer focal laser ablation (FLA). The robotic manipulator provides two active planar degrees of freedom (DoFs) by using a customized CoreXY frame and one passive rotational DoF. A remote insertion mechanism improves the surgical workflow by keeping the patients inside the scanner during needle insertion. The robotic manipulator is tested in a 3T MR scanner to evaluate its MR compliance, and the results demonstrated that the signal-to-noise ratio (SNR) variation is less than 8%. The in-scanner template positioning accuracy test demonstrates that the manipulator achieves high targeting accuracy with a mean error of 0.46 mm and a standard deviation of 0.25 mm. Phantom studies have shown that the needle insertion accuracy of the manipulator is within 2 mm (mean = 1.7 mm, standard deviation = 0.2 mm).

引用

页码：107 / 114

页数：8

共 37 条

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