Robot-assisted needle placement in open-MRI: System architecture, integration and validation

S. P. DiMaio, S. Pieper, K. Chinzei, N. Hata, E. Balogh, G. Fichtinger, C. M. Tempany, R. Kikinis

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

Abstract

This work describes an integrated system for planning and performing percutaneous procedures - such as prostate biopsy - with robotic assistance under MRI-guidance. The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's MR images. All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template. Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide. Results from in-scanner phantom experiments are provided.

Original languageEnglish (US)
Title of host publicationStudies in Health Technology and Informatics
Pages126-131
Number of pages6
Volume119
StatePublished - 2006
EventMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006 - Long Beach, CA, United States
Duration: Jan 24 2006Jan 27 2006

Other

OtherMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006
CountryUnited States
CityLong Beach, CA
Period1/24/061/27/06

Keywords

  • MR-compatible robot
  • Prostate cancer
  • Robot-assisted needle biopsy

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management

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  • Cite this

    DiMaio, S. P., Pieper, S., Chinzei, K., Hata, N., Balogh, E., Fichtinger, G., Tempany, C. M., & Kikinis, R. (2006). Robot-assisted needle placement in open-MRI: System architecture, integration and validation. In Studies in Health Technology and Informatics (Vol. 119, pp. 126-131)