Robotic System for Transrectal Biopsy of the Prostate: Real-Time Guidance Under MRI

Author

Elhawary, Haytham ; Tse, Zion Tsz-ho ; Rea, Marc ; Zivanovic, Alex ; Davies, Brian L. ; Besant, Colin ; de Souza, N. ; Mcrobbie, Donald ; Young, Ian ; Lamperth, Michael U.

Author_Institution

Mech. Eng. Dept., Imperial Coll. London, London, UK

Volume

29

Issue

2

fYear

2010

Firstpage

78

Lastpage

86

Abstract

In this paper, to harness the possibility of real-time guidance of MRI, a robotic system has been developed to perform transrectal prostate biopsy inside a 1.5-T closed bore scanner. A specially developed MR pulse sequence is capable of tracking the needle location in real time while dynamically updating the scan planes to always include the needle and target.

Keywords

biological organs; biomedical MRI; biomedical electronics; cancer; image sequences; medical image processing; medical robotics; MR pulse sequence; MRI; closed bore scanner; magnetic flux density 1.5 T; needle location tracking; prostate; real-time guidance; robotic system; scan planes; transrectal biopsy; Biopsy, Needle; Computer Systems; Equipment Design; Humans; Magnetic Resonance Imaging; Male; Prostatic Neoplasms; Rectum; Robotics; Surgery, Computer-Assisted; User-Computer Interface;

fLanguage

English

Journal_Title

Engineering in Medicine and Biology Magazine, IEEE

Publisher

ieee

ISSN

0739-5175

Type

jour

DOI

10.1109/MEMB.2009.935709

Filename

5431941