Robotic assistant for transperineal prostate interventions in 3T closed MRI.

Gregory S. Fischer, Simon P. DiMaio, Iulian I. Iordachita, Gabor Fichtinger

Research output: Chapter in Book/Report/Conference proceedingChapter

38 Scopus citations


Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of prostate cancer. The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection and tissue deformation. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring such interventions due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. We have designed a comprehensive robotic assistant system that allows prostate biopsy and brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner. We present a detailed design of the robotic manipulator and an evaluation of its usability and MR compatibility.

Original languageEnglish (US)
Title of host publicationMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Number of pages9
EditionPt 1
StatePublished - 2007

ASJC Scopus subject areas

  • Medicine(all)


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