TY - GEN
T1 - Software strategy for robotic transperineal prostate therapy in closed-bore MRI
AU - Tokuda, Junichi
AU - Fischer, Gregory S.
AU - Csoma, Csaba
AU - Dimaio, Simon P.
AU - Gobbi, David G.
AU - Fichtinger, Gabor
AU - Tempany, Clare M.
AU - Hata, Nobuhiko
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-85990-1-84
DO - 10.1007/978-3-540-85990-1-84
M3 - Conference contribution
SN - 3540859896
SN - 9783540859895
VL - 5242 LNCS
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 701
EP - 709
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
T2 - 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008
Y2 - 6 September 2008 through 10 September 2008
ER -