Software strategy for robotic transperineal prostate therapy in closed-bore MRI

Junichi Tokuda; Gregory S. Fischer; Csaba Csoma; Simon P. Dimaio; David G. Gobbi; Gabor Fichtinger; Clare M. Tempany; Nobuhiko Hata

doi:10.1007/978-3-540-85990-1-84

Software strategy for robotic transperineal prostate therapy in closed-bore MRI

Junichi Tokuda, Gregory S. Fischer, Csaba Csoma, Simon P. Dimaio, David G. Gobbi, Gabor Fichtinger, Clare M. Tempany, Nobuhiko Hata

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images. Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components. The wizard-style user interface allows easy following of the clinical workflow. On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI. These features are supported by calibration of robot and image coordinates by the fiducial-based registration. The performance test shows that the registration error of the system was 2.6 mm in the prostate area, and it displayed real-time 2D image 1.7 s after the completion of image acquisition.

Original language	English (US)
Title of host publication	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages	701-709
Number of pages	9
Volume	5242 LNCS
Edition	PART 2
DOIs	https://doi.org/10.1007/978-3-540-85990-1-84
State	Published - 2008
Externally published	Yes
Event	11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008 - New York, NY, United States Duration: Sep 6 2008 → Sep 10 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	5242 LNCS
ISSN (Print)	03029743
ISSN (Electronic)	16113349

Other

Other	11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008
Country	United States
City	New York, NY
Period	9/6/08 → 9/10/08

ASJC Scopus subject areas

Computer Science(all)
Theoretical Computer Science

Access to Document

10.1007/978-3-540-85990-1-84

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Cite this

Tokuda, J., Fischer, G. S., Csoma, C., Dimaio, S. P., Gobbi, D. G., Fichtinger, G., Tempany, C. M., & Hata, N. (2008). Software strategy for robotic transperineal prostate therapy in closed-bore MRI. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 2 ed., Vol. 5242 LNCS, pp. 701-709). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5242 LNCS, No. PART 2). https://doi.org/10.1007/978-3-540-85990-1-84

Software strategy for robotic transperineal prostate therapy in closed-bore MRI. / Tokuda, Junichi; Fischer, Gregory S.; Csoma, Csaba; Dimaio, Simon P.; Gobbi, David G.; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5242 LNCS PART 2. ed. 2008. p. 701-709 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5242 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tokuda, J, Fischer, GS, Csoma, C, Dimaio, SP, Gobbi, DG, Fichtinger, G, Tempany, CM & Hata, N 2008, Software strategy for robotic transperineal prostate therapy in closed-bore MRI. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 2 edn, vol. 5242 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 5242 LNCS, pp. 701-709, 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008, New York, NY, United States, 9/6/08. https://doi.org/10.1007/978-3-540-85990-1-84

Tokuda J, Fischer GS, Csoma C, Dimaio SP, Gobbi DG, Fichtinger G et al. Software strategy for robotic transperineal prostate therapy in closed-bore MRI. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 2 ed. Vol. 5242 LNCS. 2008. p. 701-709. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). https://doi.org/10.1007/978-3-540-85990-1-84

Tokuda, Junichi ; Fischer, Gregory S. ; Csoma, Csaba ; Dimaio, Simon P. ; Gobbi, David G. ; Fichtinger, Gabor ; Tempany, Clare M. ; Hata, Nobuhiko. / Software strategy for robotic transperineal prostate therapy in closed-bore MRI. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5242 LNCS PART 2. ed. 2008. pp. 701-709 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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