Robotic System for Closed-Bore MRI-Guided Prostatic Interventions

Author

Goldenberg, Andrew A. ; Trachtenberg, John ; Kucharczyk, Walter ; Yi, Yang ; Haider, Masoom ; Ma, Leo ; Weersink, Robert ; Raoufi, Cyrus

Author_Institution

Eng. Services, Inc., Toronto, ON

Volume

13

Issue

3

fYear

2008

fDate

6/1/2008 12:00:00 AM

Firstpage

374

Lastpage

379

Abstract

This paper reports on the development of a new closed-bore magnetic resonance imaging (MRI) compatible robotic system for image-guided prostatic interventions: ablation, brachytherapy, and biopsy. The first stage of development addresses only laser-based ablation. The robot actuators are ultrasonic motors. The first physical robot prototype was manufactured and tested in the MRI with an ablation tool. The tests covered magnetic resonance (MR) compatibility, tool visualization, and robot control accuracy. Robot tip position error is less than 2 mm at points closer than 0.5 m to the isocenter. A method to control ultrasonic motors for MRI-compatibility is reported.

Keywords

actuators; biomedical MRI; brachytherapy; laser ablation; medical robotics; ultrasonic motors; ablation; biopsy; brachytherapy; closed-bore MRI-guided prostatic interventions; image-guided prostatic interventions; magnetic resonance imaging compatible robotic system; robot actuators; ultrasonic motors; Actuators; Biopsy; Brachytherapy; Laser ablation; Laser theory; Magnetic resonance imaging; Manufacturing; Prototypes; Robots; Testing; MRI compatible; Magnetic resonance imaging (MRI); surgical robotics; ultrasonic motors;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2008.924122

Filename

4542804