Design of a robot for transperineal prostate needle placement in MRI scanner

Gregory S. Fischer, Iulian Iordachita, Simon P. DiMaio, Gabor Fichtinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of prostate cancer. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring prostatic interventions, due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. Despite these advantages, closed high-field MRI scanners (1.5T or greater) have not typically been used in prostate 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 intraprostatic needle placement inside closed high-field MRI scanners. The paper explains the design process, component selection and the system currently being prototyped.

Original languageEnglish (US)
Title of host publication2006 IEEE International Conference on Mechatronics, ICM
Pages592-597
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
Duration: Jul 3 2006Jul 5 2006

Other

Other2006 IEEE International Conference on Mechatronics, ICM
CountryHungary
CityBudapest
Period7/3/067/5/06

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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