PubDB - High-field MRI-compatible Needle Placement Robot for Prostate Interventions

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High-field MRI-compatible Needle Placement Robot for Prostate Interventions

Su H.1, Camilo A.1, Cole G.A.1, Hata N.2, Tempany C.M.2, Fischer G.S.1
Institution:
1Worcester Polytechnic Institute, Worcester, MA, USA.
2Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, USA.
Publication Date:
Jan-2011
Journal:
Stud Health Technol Inform
Volume Number:
163
Pages:
623-9
Citation:
Stud Health Technol Inform. 2011 Jan;163:623-9.
PubMed ID:
21335868
PMCID:
PMC4077613
Keywords:
MRI compatible robot, Prostate Brachytherapy, Biopsy
Appears in Collections:
SNR, NCIGT, Prostate Group
Sponsors:
P41 EB015898/EB/NIBIB NIH HHS/United States
R01 CA111288/CA/NCI NIH HHS/United States
Generated Citation:
Su H., Camilo A., Cole G.A., Hata N., Tempany C.M., Fischer G.S. High-field MRI-compatible Needle Placement Robot for Prostate Interventions. Stud Health Technol Inform. 2011 Jan;163:623-9. PMID: 21335868. PMCID: PMC4077613.
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This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive MRI guidance. The needle driver module provides for needle cannula rotation, needle insertion and cannula retraction to enable the brachytherapy procedure with the preloaded needles. The device mimics the manual physician gesture by two point grasping (hub and base) and provides direct force measurement of needle insertion force by fiber optic force sensors. The fabricated prototype is presented and an experiment with phantom trials in 3T MRI is analyzed to demonstrate the system compatibility.

Additional Material
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