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 proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1066-1073
Number of pages8
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

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