MRI-Safe Robot for Endorectal Prostate Biopsy

This paper reports the development of an MRI-Safe robot for direct (interventional) MRI-guided endorectal prostate biopsy. The robot is constructed of nonmagnetic and electrically nonconductive materials, and is electricity free, using pneumatic actuation and optical sensors. Targeting biopsy lesion...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2014-08, Vol.19 (4), p.1289-1299
Main Authors: Stoianovici, Dan, Chunwoo Kim, Srimathveeravalli, Govindarajan, Sebrecht, Peter, Petrisor, Doru, Coleman, Jonathan, Solomon, Stephen B., Hricak, Hedvig
Format: Article
Language:English
Subjects:
Actuation
Biopsy
Insertion
Kinematics
Magnetic resonance imaging
Mechatronics
Motor
MRI-compatible
MRI-Safe
Needles
Patients
pneumatic
Pneumatic systems
Prostate
prostate biopsy
robot
Robot kinematics
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper reports the development of an MRI-Safe robot for direct (interventional) MRI-guided endorectal prostate biopsy. The robot is constructed of nonmagnetic and electrically nonconductive materials, and is electricity free, using pneumatic actuation and optical sensors. Targeting biopsy lesions of MRI abnormality presents substantial clinical potential for the management of prostate cancer. This paper describes MRI-Safe requirements and presents the kinematic architecture, design, and construction of the robot, and a comprehensive set of preclinical tests for MRI compatibility and needle targeting accuracy. The robot has a compact and simple three degree-of-freedom (DoF) structure, two for orienting a needle-guide and one to preset the depth of needle insertion. The actual insertion is performed manually through the guide and up to the preset depth. To reduce the complexity and size of the robot next to the patient, the depth setting DoF is remote. Experimental results show that the robot is safe to use in any MRI environment (MRI-Safe). Comprehensive MRI tests show that the presence and motion of the robot in the MRI scanner cause virtually no image deterioration or signal-to-noise ratio change. Robot's accuracy in bench test, CT-guided in-vitro, MRI-guided in-vitro , and animal tests are 0.37, 1.10, 2.09, and 2.58 mm, respectively. These values are acceptable for clinical use.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2013.2279775