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

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

doi:10.1109/ICMECH.2006.252593

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

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

School of Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2006 IEEE International Conference on Mechatronics, ICM
Pages	592-597
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2006.252593
State	Published - 2006
Event	2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary Duration: Jul 3 2006 → Jul 5 2006

Other

Other	2006 IEEE International Conference on Mechatronics, ICM
Country	Hungary
City	Budapest
Period	7/3/06 → 7/5/06

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering
Mechanical Engineering

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Cite this

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title = "Design of a robot for transperineal prostate needle placement in MRI scanner",

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.",

author = "Fischer, {Gregory S.} and Iulian Iordachita and DiMaio, {Simon P.} and Gabor Fichtinger",

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AU - Iordachita, Iulian

AU - DiMaio, Simon P.

AU - Fichtinger, Gabor

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AB - 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.

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