NDLI: MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

Content Provider	IEEE Xplore Digital Library
Author	Fischer, G.S. Iordachita, I. Csoma, C. Tokuda, J. DiMaio, S.P. Tempany, C.M. Hata, N. Fichtinger, G.
Copyright Year	1996
Abstract	Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system.
Starting Page	295
Ending Page	305
Page Count	11
File Size	879886
File Format	PDF
ISSN	10834435
Volume Number	13
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Needles Magnetic resonance imaging Visualization Orbital robotics Medical robotics Biomedical imaging Patient monitoring Biomedical monitoring Mechatronics prostate brachytherapy and biopsy Magnetic resonance imaging (MRI) compatible robotics pneumatic control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Pneumatically operated MRI-compatible needle placement robot for prostate interventions

Design of a Robot for Transperineal Prostate Needle Placement in MRI Scanner

Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches

System for prostate brachytherapy and biopsy in a standard 1.5t mri scanner," magnetic resonance in medicine (2004).

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

MRI-Safe Robot for Endorectal Prostate Biopsy

Automatic Brachytherapy Seed Placement Under MRI Guidance

Development of an MRI-compatible needle driver for in-bore prostate biopsy

An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

Similar Documents

Pneumatically operated MRI-compatible needle placement robot for prostate interventions

Design of a Robot for Transperineal Prostate Needle Placement in MRI Scanner

Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches

System for prostate brachytherapy and biopsy in a standard 1.5t mri scanner," magnetic resonance in medicine (2004).

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

MRI-Safe Robot for Endorectal Prostate Biopsy

Automatic Brachytherapy Seed Placement Under MRI Guidance

Development of an MRI-compatible needle driver for in-bore prostate biopsy

An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement