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 proceedingConference 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 languageEnglish (US)
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages701-709
Number of pages9
Volume5242 LNCS
EditionPART 2
DOIs
StatePublished - 2008
Externally publishedYes
Event11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008 - New York, NY, United States
Duration: Sep 6 2008Sep 10 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume5242 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008
CountryUnited States
CityNew York, NY
Period9/6/089/10/08

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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    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