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
StatePublished - 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

Fingerprint

Magnetic resonance
Needles
Robotics
Imaging techniques
Signal to noise ratio
Robots
Shielding
Degradation

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

Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention. / Krieger, Axel; Iordachita, Iulian; Song, Sang Eun; Cho, Nathan B.; Guion, Peter; Fichtinger, Gabor; Whitcomb, Louis L.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 1066-1073 5509727.

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

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
Krieger A, Iordachita I, Song SE, Cho NB, Guion P, Fichtinger G et al. 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. 2010. p. 1066-1073. 5509727 https://doi.org/10.1109/ROBOT.2010.5509727
Krieger, Axel ; Iordachita, Iulian ; Song, Sang Eun ; Cho, Nathan B. ; Guion, Peter ; Fichtinger, Gabor ; Whitcomb, Louis L. / Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 1066-1073
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