PubDB - Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

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Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

Song S-E.1, Cho N.B.1, Fischer G.2, Hata N.3, Tempany C.M.3, Fichtinger G.4, Iordachita I.1
Institution:
1National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, USA.
2Worcester Polytechnic Institute, Worcester, MA, USA.
3Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, USA.
4Queen’s University, Kingston, Canada.
Publication Date:
Jul-2010
Journal:
IEEE Int Conf Robot Autom
Volume Number:
2010
Pages:
2580-5
Citation:
IEEE Int Conf Robot Autom. 2010 Jul 15;2010:2580-5.
PubMed ID:
21399734
PMCID:
PMC3051168
Appears in Collections:
SNR, NCIGT, Prostate Group
Sponsors:
P01 CA067165/CA/NCI NIH HHS/United States
R01 CA111288/CA/NCI NIH HHS/United States
U41 RR019703/RR/NCRR NIH HHS/United States
Generated Citation:
Song S-E., Cho N.B., Fischer G., Hata N., Tempany C.M., Fichtinger G., Iordachita I. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches. IEEE Int Conf Robot Autom. 2010 Jul 15;2010:2580-5. PMID: 21399734. PMCID: PMC3051168.
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Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.

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