Design of a novel MRI compatible manipulator for image guided prostate interventions

Author

Krieger, Axel ; Susil, Robert C. ; Ménard, Cynthia ; Coleman, Jonathan A. ; Fichtinger, Gabor ; Atalar, Ergin ; Whitcomb, Louis L.

Author_Institution

Dept. of Radiol., Johns Hopkins Univ., Baltimore, MD, USA

Volume

52

Issue

2

fYear

2005

Firstpage

306

Lastpage

313

Abstract

This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.

Keywords

biological organs; biomedical MRI; diseases; manipulators; medical robotics; patient treatment; MRI compatible manipulator; MRI guided needle biopsy; fiducial marker placements; image guided prostate interventions; in vivo canine experiments; magnetic resonance imaging guidance device; prostate tissue; therapy delivery; Biopsy; Clinical trials; In vivo; Magnetic resonance imaging; Mechanical engineering; Medical treatment; Needles; Oncology; Prostate cancer; Radiology; Biomedical imaging; cancer; magnetic resonance imaging; medical diagnosis; medical treatment; Animals; Biopsy, Needle; Dogs; Equipment Design; Equipment Failure Analysis; Feasibility Studies; Imaging, Three-Dimensional; Magnetic Resonance Imaging; Male; Micromanipulation; Prostate; Reproducibility of Results; Robotics; Sensitivity and Specificity; Surgery, Computer-Assisted;

fLanguage

English

Journal_Title

Biomedical Engineering, IEEE Transactions on

Publisher

ieee

ISSN

0018-9294

Type

jour

DOI

10.1109/TBME.2004.840497

Filename

1386568