Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention

Axel Krieger; Iulian Iordachita; Sang Eun Song; Nathan B. Cho; Peter Guion; Gabor Fichtinger; Louis L. Whitcomb

doi:10.1109/ROBOT.2010.5509727

Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention

Axel Krieger, Iulian Iordachita, Sang Eun Song, Nathan B. Cho, Peter Guion, Gabor Fichtinger, Louis L. Whitcomb

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

30 Scopus citations

Abstract

This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided intervention. The robot employs an actuated needle guide with the goal of reducing interventional procedure times and increasing needle placement accuracy. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI image signal-to-noise-ratio (SNR) with the motors disabled and a 40% to 60% reduction in SNR with the motors enabled. The addition of radio-frequency (RF) shielding is shown to significantly reduce image SNR degradation due to the presence of the robotic device.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	1066-1073
Number of pages	8
DOIs	https://doi.org/10.1109/ROBOT.2010.5509727
State	Published - 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: May 3 2010 → May 7 2010

Other

Other	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	5/3/10 → 5/7/10

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ROBOT.2010.5509727

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Krieger, A., Iordachita, I., Song, S. E., Cho, N. B., Guion, P., Fichtinger, G., & Whitcomb, L. L. (2010). Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1066-1073). [5509727] https://doi.org/10.1109/ROBOT.2010.5509727

Krieger, A, Iordachita, I, Song, SE, Cho, NB, Guion, P, Fichtinger, G & Whitcomb, LL 2010, Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention. in Proceedings - IEEE International Conference on Robotics and Automation., 5509727, pp. 1066-1073, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509727

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abstract = "This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided intervention. The robot employs an actuated needle guide with the goal of reducing interventional procedure times and increasing needle placement accuracy. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI image signal-to-noise-ratio (SNR) with the motors disabled and a 40% to 60% reduction in SNR with the motors enabled. The addition of radio-frequency (RF) shielding is shown to significantly reduce image SNR degradation due to the presence of the robotic device.",

author = "Axel Krieger and Iulian Iordachita and Song, {Sang Eun} and Cho, {Nathan B.} and Peter Guion and Gabor Fichtinger and Whitcomb, {Louis L.}",

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AU - Krieger, Axel

AU - Iordachita, Iulian

AU - Song, Sang Eun

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AU - Guion, Peter

AU - Fichtinger, Gabor

AU - Whitcomb, Louis L.

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AB - This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided intervention. The robot employs an actuated needle guide with the goal of reducing interventional procedure times and increasing needle placement accuracy. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI image signal-to-noise-ratio (SNR) with the motors disabled and a 40% to 60% reduction in SNR with the motors enabled. The addition of radio-frequency (RF) shielding is shown to significantly reduce image SNR degradation due to the presence of the robotic device.

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Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention

Abstract

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