Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.

Citation:

Fischer GS, Iordachita I, Csoma C, Tokuda J, Mewes PW, Tempany CM, Hata N, Fichtinger G. Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions. IEEE Int Conf Robot Autom. 2008;2008 :2489-95. Copy at http://www.tinyurl.com/y4czk5th

Date Published:

2008 Jun 13

Abstract:

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

Last updated on 10/15/2015