Open-bore Prostate Robot
Objective
In prostate cancer treatment, there is a move toward targeted interventions for biopsy and therapy, which has precipitated the need for precise image-guided methods for needle placement. Our team is working towards an integrated system for planning and performing percutaneous procedures with robotic assistance under MRI guidance.
Approach
A graphical planning interface allows the physician to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's registered pre-operative and pre-procedural MR images, immediately prior to the intervention in an open-bore MRI scanner. All image-space coordinates are automatically computed, and are used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template. Automatic alignment of real-time intra-operative images aids visualization of the needle as it is manually inserted through the guide.
Publications
- DiMaio SP, Pieper S, Chinzei K, Hata N, Haker SJ, Kacher DF, Fichtinger G, Tempany CM, Kikinis R. Robot-assisted needle placement in open MRI: system architecture, integration and validation. Comput Aided Surg. 2007;12(1):15-24
- DiMaio SP, Pieper S, Chinzei K, Hata N, Balogh E, Fichtinger G, Tempany CM, Kikinis R.Robot-assisted needle placement in open-MRI: system architecture, integration and validation. Stud Health Technol Inform. 2006;119:126-31.
- Chinzei K, Warfield SK, Hata N, Tempany CMC, Jolesz FA, Kikinis R. Planning, simulation and assistance with intraoperative MRI. Minimally Invasive Therapy & Allied Technologies 2003;12:59-64
People
- Nobuhiko Hata
- Clare Tempany
- Kiyoyuki Chinzei (BWH/AIST Japan)
- Ron Kikinis
- Ferenc Jolesz
- Gabor Fichtinger (Johns Hopkins University/Queens University)