Automatic Brachytherapy Seed Placement Under MRI Guidance

The paper presents a robotic method of performing low dose rate prostate brachytherapy under magnetic resonance imaging (MRI) guidance. The design and operation of a fully automated MR compatible seed injector is presented. This is used with the MrBot robot for transperineal percutaneous prostate ac...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2007-08, Vol.54 (8), p.1499-1506
Main Authors: Patriciu, Alexandru, Petrisor, Doru, Muntener, Michael, Mazilu, Dumitru, Schar, Michael, Stoianovici, Dan
Format: Article
Language:English
Subjects:
Algorithms
Biomedical imaging
Brachytherapy
Brachytherapy - instrumentation
Brachytherapy - methods
Diseases
Humans
IGI
Image Interpretation, Computer-Assisted - methods
image-guided robot
Injections - methods
Magnetic resonance imaging
Magnetic Resonance Imaging - methods
Medical treatment
MR Compatible
Needles
Prostate cancer
Prosthesis Implantation - methods
Radiology
Robotics - methods
Robotics and automation
Ultrasonic imaging
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Summary:The paper presents a robotic method of performing low dose rate prostate brachytherapy under magnetic resonance imaging (MRI) guidance. The design and operation of a fully automated MR compatible seed injector is presented. This is used with the MrBot robot for transperineal percutaneous prostate access. A new image-registration marker and algorithms are also presented. The system is integrated and tested with a 3T MRI scanner. Tests compare three different registration methods, assess the precision of performing automated seed deployment, and use the seeds to assess the accuracy of needle targeting under image guidance. Under the ideal conditions of the in vitro experiments, results show outstanding image-guided needle and seed placement accuracy.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2007.900816