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

doi:10.1002/rcs.1430

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 journal › Article › peer-review

16 Scopus citations

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 (V_W) 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 language	English (US)
Pages (from-to)	67-74
Number of pages	8
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
Volume	9
Issue number	1
DOIs	https://doi.org/10.1002/rcs.1430
State	Published - Mar 2013
Externally published	Yes

Keywords

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

ASJC Scopus subject areas

Computer Science Applications
Biophysics
Surgery

Access to Document

10.1002/rcs.1430

Cite this

A workspace-orientated needle-guiding robot for 3T MRI-guided transperineal prostate intervention: Evaluation of in-bore workspace and MRI compatibility. / Song, Sang Eun; Hata, Nobuhiko; Iordachita, Iulian et al.
In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 9, No. 1, 03.2013, p. 67-74.

Research output: Contribution to journal › Article › peer-review

@article{86f00733bff343ca881b662e91b91c6e,

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

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",

keywords = "Medical robotics, MRI-compatible robot, Transperineal prostate intervention, Workspace design analysis",

author = "Song, {Sang Eun} and Nobuhiko Hata and Iulian Iordachita and Gabor Fichtinger and Clare Tempany and Junichi Tokuda",

year = "2013",

month = mar,

doi = "10.1002/rcs.1430",

language = "English (US)",

volume = "9",

pages = "67--74",

journal = "International Journal of Medical Robotics and Computer Assisted Surgery",

issn = "1478-5951",

publisher = "John Wiley and Sons Ltd",

number = "1",

}

TY - JOUR

T1 - A workspace-orientated needle-guiding robot for 3T MRI-guided transperineal prostate intervention

T2 - Evaluation of in-bore workspace and MRI compatibility

AU - Song, Sang Eun

AU - Hata, Nobuhiko

AU - Iordachita, Iulian

AU - Fichtinger, Gabor

AU - Tempany, Clare

AU - Tokuda, Junichi

PY - 2013/3

Y1 - 2013/3

N2 - 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

AB - 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

KW - Medical robotics

KW - MRI-compatible robot

KW - Transperineal prostate intervention

KW - Workspace design analysis

UR - http://www.scopus.com/inward/record.url?scp=84875002524&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84875002524&partnerID=8YFLogxK

U2 - 10.1002/rcs.1430

DO - 10.1002/rcs.1430

M3 - Article

C2 - 22492680

AN - SCOPUS:84875002524

SN - 1478-5951

VL - 9

SP - 67

EP - 74

JO - International Journal of Medical Robotics and Computer Assisted Surgery

JF - International Journal of Medical Robotics and Computer Assisted Surgery

IS - 1

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this