Pneumatically operated MRI-compatible needle placement robot for prostate interventions

Gregory S. Fischer, Iulian Iordachita, Csaba Csoma, Junichi Tokuda, Philip W. Mewes, Clare M. Tempany, Nobuhiko Hata, Gabor Fichtinger

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

Abstract

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under realtime 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2489-2495
Number of pages7
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

    Fischer, G. S., Iordachita, I., Csoma, C., Tokuda, J., Mewes, P. W., Tempany, C. M., Hata, N., & Fichtinger, G. (2008). Pneumatically operated MRI-compatible needle placement robot for prostate interventions. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2489-2495). [4543587] https://doi.org/10.1109/ROBOT.2008.4543587