PubDB - Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions

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Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions

Song S-E.1, Cho N.1, Tokuda J.2, Hata N.2, Tempany C.M.2, Fichtinger G.3, Iordachita I.1
Institution:
1National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, Johns Hopkins University, Baltimore, MD, USA.
2National Center for Image-Guided Therapy, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, USA.
3School of Computing, Queen’s University, Kingston, Ontario, Canada.
Publication Date:
Sep-2010
Journal:
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron
Volume Number:
2010
Pages:
796-801
Citation:
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 26;2010:796-801.
PubMed ID:
21132087
PMCID:
PMC2995896
Appears in Collections:
NCIGT, Prostate Group, SLICER, SNR
Sponsors:
P01 CA067165/CA/NCI NIH HHS/United States
P41 RR019703/RR/NCRR NIH HHS/United States
R01 CA111288/CA/NCI NIH HHS/United States
Generated Citation:
Song S-E., Cho N., Tokuda J., Hata N., Tempany C.M., Fichtinger G., Iordachita I. Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions. Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 26;2010:796-801. PMID: 21132087. PMCID: PMC2995896.
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Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.

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