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 proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2959-2962
Number of pages4
DOIs
StatePublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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  • 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