"MRI Stealth" robot for prostate interventions

Dan Stoianovici, Danny Y Song, Doru Petrisor, Daniel Ursu, Dumitru Mazilu, Michael Mutener, Michael Schar, Alexandru Patriciu

Research output: Contribution to journalArticle

Abstract

The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the "MRI stealth" robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low-dose radiation seed brachytherapy. This paper gives an introduction to the challenges of MRI robot compatibility and presents the solutions adopted in making the MrBot. Its multi-imager compatibility and other preclinical tests are included. The robot shows the technical feasibility of MRI-guided prostate interventions, yet its clinical utility is still to be determined.

Original languageEnglish (US)
Pages (from-to)241-248
Number of pages8
JournalMinimally Invasive Therapy and Allied Technologies
Volume16
Issue number4
DOIs
StatePublished - 2007

Fingerprint

Needles
Prostate
Brachytherapy
Biopsy
Electricity
Rubber
Ceramics
Plastics
Neoplasms
Seeds
Hot Temperature
Radiation
Technology
Safety
Light
Equipment and Supplies
Therapeutics

Keywords

  • Image-guided intervention (IGI)
  • MRI compatible
  • MRI Robot
  • Multi-imager compatible
  • Pneumatic motor

ASJC Scopus subject areas

  • Radiology Nuclear Medicine and imaging
  • Surgery

Cite this

"MRI Stealth" robot for prostate interventions. / Stoianovici, Dan; Song, Danny Y; Petrisor, Doru; Ursu, Daniel; Mazilu, Dumitru; Mutener, Michael; Schar, Michael; Patriciu, Alexandru.

In: Minimally Invasive Therapy and Allied Technologies, Vol. 16, No. 4, 2007, p. 241-248.

Research output: Contribution to journalArticle

@article{d4d79491612a4a1e8196093e99535e8a,
title = "{"}MRI Stealth{"} robot for prostate interventions",
abstract = "The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the {"}MRI stealth{"} robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low-dose radiation seed brachytherapy. This paper gives an introduction to the challenges of MRI robot compatibility and presents the solutions adopted in making the MrBot. Its multi-imager compatibility and other preclinical tests are included. The robot shows the technical feasibility of MRI-guided prostate interventions, yet its clinical utility is still to be determined.",
keywords = "Image-guided intervention (IGI), MRI compatible, MRI Robot, Multi-imager compatible, Pneumatic motor",
author = "Dan Stoianovici and Song, {Danny Y} and Doru Petrisor and Daniel Ursu and Dumitru Mazilu and Michael Mutener and Michael Schar and Alexandru Patriciu",
year = "2007",
doi = "10.1080/13645700701520735",
language = "English (US)",
volume = "16",
pages = "241--248",
journal = "Minimally Invasive Therapy and Allied Technologies",
issn = "1364-5706",
publisher = "Informa Healthcare",
number = "4",

}

TY - JOUR

T1 - "MRI Stealth" robot for prostate interventions

AU - Stoianovici, Dan

AU - Song, Danny Y

AU - Petrisor, Doru

AU - Ursu, Daniel

AU - Mazilu, Dumitru

AU - Mutener, Michael

AU - Schar, Michael

AU - Patriciu, Alexandru

PY - 2007

Y1 - 2007

N2 - The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the "MRI stealth" robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low-dose radiation seed brachytherapy. This paper gives an introduction to the challenges of MRI robot compatibility and presents the solutions adopted in making the MrBot. Its multi-imager compatibility and other preclinical tests are included. The robot shows the technical feasibility of MRI-guided prostate interventions, yet its clinical utility is still to be determined.

AB - The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the "MRI stealth" robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low-dose radiation seed brachytherapy. This paper gives an introduction to the challenges of MRI robot compatibility and presents the solutions adopted in making the MrBot. Its multi-imager compatibility and other preclinical tests are included. The robot shows the technical feasibility of MRI-guided prostate interventions, yet its clinical utility is still to be determined.

KW - Image-guided intervention (IGI)

KW - MRI compatible

KW - MRI Robot

KW - Multi-imager compatible

KW - Pneumatic motor

UR - http://www.scopus.com/inward/record.url?scp=34548324771&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34548324771&partnerID=8YFLogxK

U2 - 10.1080/13645700701520735

DO - 10.1080/13645700701520735

M3 - Article

VL - 16

SP - 241

EP - 248

JO - Minimally Invasive Therapy and Allied Technologies

JF - Minimally Invasive Therapy and Allied Technologies

SN - 1364-5706

IS - 4

ER -