A workspace-orientated needle-guiding robot for 3T MRI-guided transperineal prostate intervention: Evaluation of in-bore workspace and MRI compatibility

Sang Eun Song, Nobuhiko Hata, Iulian Iordachita, Gabor Fichtinger, Clare Tempany, Junichi Tokuda

Research output: Contribution to journalArticle

Abstract

Background: Magnetic resonance imaging (MRI)-guided prostate interventions have been introduced to enhance the cancer detection. For accurate needle positioning, in-bore-operated robotic systems have been developed and optimal use of the confined in-bore space become a critical engineering challenge. Methods: As preliminary evaluation of our prostate intervention robot, we conducted a workspace design analysis, using a new evaluation method that we developed for in-bore-operated robots for transperineal prostate interventions, and an MRI compatibility study. Results: The workspace analysis resulted in the effective workspace (VW) of 0.32, which is greater than that of our early prototype, despite the current robot being ca. 50% larger than the early prototype in sectional space. The MRI compatibility study resulted in

Original languageEnglish (US)
Pages (from-to)67-74
Number of pages8
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume9
Issue number1
DOIs
StatePublished - Mar 2013
Externally publishedYes

Keywords

  • Medical robotics
  • MRI-compatible robot
  • Transperineal prostate intervention
  • Workspace design analysis

ASJC Scopus subject areas

  • Computer Science Applications
  • Biophysics
  • Surgery

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