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

Citation:

SP DiMaio, S Pieper, K Chinzei, N Hata, E Balogh, G Fichtinger, CM Tempany, and R Kikinis. 2006. “Robot-assisted needle placement in open-MRI: system architecture, integration and validation.” Stud Health Technol Inform, 119, Pp. 126-31. Copy at http://www.tinyurl.com/y5hdanv6

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.