Integrated system for robot-assisted in prostate biopsy in closed MRI scanner

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

doi:10.1109/ROBOT.2008.4543659

Integrated system for robot-assisted in prostate biopsy in closed MRI scanner

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

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

Abstract

Prostate cancer biopsy is a routine medical procedure, yet conventional techniques suffer from low sensitivity attributed to suboptimal image guidance and needle placement. Targeting small lesions and foci (5 mm in diameter) is particularly prone to errors. We developed an integrated system to perform robot-assisted transperineal needle insertions into the prostate, under Magnetic Resonance Imaging (MRI) guidance. The system provides arbitrary needle trajectories and allows for simultaneous surveillance and correction of the needle path, based on intra-operative MRI. System functionality and data transfer and processing tests were conducted. Five lesions embedded in the gel phantom were targeted successfully, while communication delays (due to higher image frame rates) had no adverse affect on robot-software communication. The system was sufficiently resistant to high network loads and performed with an acceptable transfer rate.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2959-2962
Number of pages	4
DOIs	https://doi.org/10.1109/ROBOT.2008.4543659
State	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: May 19 2008 → May 23 2008

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country	United States
City	Pasadena, CA
Period	5/19/08 → 5/23/08

ASJC Scopus subject areas

Software
Control and Systems Engineering

Access to Document

10.1109/ROBOT.2008.4543659

Fingerprint Dive into the research topics of 'Integrated system for robot-assisted in prostate biopsy in closed MRI scanner'. Together they form a unique fingerprint.

Cite this

Mewes, P. W., Tokuda, J., DiMaio, S. P., Fischer, G. S., Csoma, C., Gobbi, D. G., Tempany, C. M., Fichtinger, G., & Hata, N. (2008). Integrated system for robot-assisted in prostate biopsy in closed MRI scanner. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2959-2962). [4543659] https://doi.org/10.1109/ROBOT.2008.4543659

Integrated system for robot-assisted in prostate biopsy in closed MRI scanner. / Mewes, Philip W.; Tokuda, Junichi; DiMaio, Simon P.; Fischer, Gregory S.; Csoma, Csaba; Gobbi, David G.; Tempany, Clare M.; Fichtinger, Gabor; Hata, Nobuhiko.

Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 2959-2962 4543659.

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

Mewes, PW, Tokuda, J, DiMaio, SP, Fischer, GS, Csoma, C, Gobbi, DG, Tempany, CM, Fichtinger, G & Hata, N 2008, Integrated system for robot-assisted in prostate biopsy in closed MRI scanner. in Proceedings - IEEE International Conference on Robotics and Automation., 4543659, pp. 2959-2962, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 5/19/08. https://doi.org/10.1109/ROBOT.2008.4543659

@inproceedings{167552fe24ba4c90803cc950292d5de5,

title = "Integrated system for robot-assisted in prostate biopsy in closed MRI scanner",

abstract = "Prostate cancer biopsy is a routine medical procedure, yet conventional techniques suffer from low sensitivity attributed to suboptimal image guidance and needle placement. Targeting small lesions and foci (5 mm in diameter) is particularly prone to errors. We developed an integrated system to perform robot-assisted transperineal needle insertions into the prostate, under Magnetic Resonance Imaging (MRI) guidance. The system provides arbitrary needle trajectories and allows for simultaneous surveillance and correction of the needle path, based on intra-operative MRI. System functionality and data transfer and processing tests were conducted. Five lesions embedded in the gel phantom were targeted successfully, while communication delays (due to higher image frame rates) had no adverse affect on robot-software communication. The system was sufficiently resistant to high network loads and performed with an acceptable transfer rate.",

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

year = "2008",

doi = "10.1109/ROBOT.2008.4543659",

language = "English (US)",

isbn = "9781424416479",

pages = "2959--2962",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

note = "2008 IEEE International Conference on Robotics and Automation, ICRA 2008 ; Conference date: 19-05-2008 Through 23-05-2008",

}

TY - GEN

T1 - Integrated system for robot-assisted in prostate biopsy in closed MRI scanner

AU - Mewes, Philip W.

AU - Tokuda, Junichi

AU - DiMaio, Simon P.

AU - Fischer, Gregory S.

AU - Csoma, Csaba

AU - Gobbi, David G.

AU - Tempany, Clare M.

AU - Fichtinger, Gabor

AU - Hata, Nobuhiko

PY - 2008

Y1 - 2008

N2 - Prostate cancer biopsy is a routine medical procedure, yet conventional techniques suffer from low sensitivity attributed to suboptimal image guidance and needle placement. Targeting small lesions and foci (5 mm in diameter) is particularly prone to errors. We developed an integrated system to perform robot-assisted transperineal needle insertions into the prostate, under Magnetic Resonance Imaging (MRI) guidance. The system provides arbitrary needle trajectories and allows for simultaneous surveillance and correction of the needle path, based on intra-operative MRI. System functionality and data transfer and processing tests were conducted. Five lesions embedded in the gel phantom were targeted successfully, while communication delays (due to higher image frame rates) had no adverse affect on robot-software communication. The system was sufficiently resistant to high network loads and performed with an acceptable transfer rate.

AB - Prostate cancer biopsy is a routine medical procedure, yet conventional techniques suffer from low sensitivity attributed to suboptimal image guidance and needle placement. Targeting small lesions and foci (5 mm in diameter) is particularly prone to errors. We developed an integrated system to perform robot-assisted transperineal needle insertions into the prostate, under Magnetic Resonance Imaging (MRI) guidance. The system provides arbitrary needle trajectories and allows for simultaneous surveillance and correction of the needle path, based on intra-operative MRI. System functionality and data transfer and processing tests were conducted. Five lesions embedded in the gel phantom were targeted successfully, while communication delays (due to higher image frame rates) had no adverse affect on robot-software communication. The system was sufficiently resistant to high network loads and performed with an acceptable transfer rate.

UR - http://www.scopus.com/inward/record.url?scp=51649128381&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=51649128381&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2008.4543659

DO - 10.1109/ROBOT.2008.4543659

M3 - Conference contribution

AN - SCOPUS:51649128381

SN - 9781424416479

SP - 2959

EP - 2962

BT - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008

Y2 - 19 May 2008 through 23 May 2008

ER -