Robot-assisted needle placement in open-MRI: system architecture, integration and validation.

Citation:

DiMaio SP, Pieper S, Chinzei K, Hata N, Balogh E, Fichtinger G, Tempany CM, Kikinis R. Robot-assisted needle placement in open-MRI: system architecture, integration and validation. Stud Health Technol Inform. 2006;119 :126-31. Copy at http://www.tinyurl.com/k4rn7uw

Date Published:

2006

Abstract:

This work describes an integrated system for planning and performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance. The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's MR images. All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template. Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide. Results from in-scanner phantom experiments are provided.