Integrated navigation and control software system for MRI-guided robotic prostate interventions

Junichi Tokuda; Gregory S. Fischer; Simon P. DiMaio; David G. Gobbi; Csaba Csoma; Philip W. Mewes; Gabor Fichtinger; Clare M. Tempany; Nobuhiko Hata

doi:10.1016/j.compmedimag.2009.07.004

Integrated navigation and control software system for MRI-guided robotic prostate interventions

Junichi Tokuda, Gregory S. Fischer, Simon P. DiMaio, David G. Gobbi, Csaba Csoma, Philip W. Mewes, Gabor Fichtinger, Clare M. Tempany, Nobuhiko Hata

Research output: Contribution to journal › Article › peer-review

55 Scopus citations

Abstract

A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.

Original language	English (US)
Pages (from-to)	3-8
Number of pages	6
Journal	Computerized Medical Imaging and Graphics
Volume	34
Issue number	1
DOIs	https://doi.org/10.1016/j.compmedimag.2009.07.004
State	Published - Jan 2010
Externally published	Yes

Keywords

Image-guided therapy
MRI-compatible robot
MRI-guided intervention
Prostate biopsy
Prostate brachytherapy
Surgical navigation

ASJC Scopus subject areas

Radiology Nuclear Medicine and imaging
Health Informatics
Radiological and Ultrasound Technology
Computer Graphics and Computer-Aided Design
Computer Vision and Pattern Recognition

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10.1016/j.compmedimag.2009.07.004

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title = "Integrated navigation and control software system for MRI-guided robotic prostate interventions",

abstract = "A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called {"}workphases{"} that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.",

keywords = "Image-guided therapy, MRI-compatible robot, MRI-guided intervention, Prostate biopsy, Prostate brachytherapy, Surgical navigation",

author = "Junichi Tokuda and Fischer, {Gregory S.} and DiMaio, {Simon P.} and Gobbi, {David G.} and Csaba Csoma and Mewes, {Philip W.} and Gabor Fichtinger and Tempany, {Clare M.} and Nobuhiko Hata",

year = "2010",

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doi = "10.1016/j.compmedimag.2009.07.004",

language = "English (US)",

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AU - Tokuda, Junichi

AU - Fischer, Gregory S.

AU - DiMaio, Simon P.

AU - Gobbi, David G.

AU - Csoma, Csaba

AU - Mewes, Philip W.

AU - Fichtinger, Gabor

AU - Tempany, Clare M.

AU - Hata, Nobuhiko

PY - 2010/1

Y1 - 2010/1

N2 - A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.

AB - A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.

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KW - MRI-compatible robot

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KW - Prostate biopsy

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Integrated navigation and control software system for MRI-guided robotic prostate interventions

Abstract

Keywords

ASJC Scopus subject areas

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