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Robotic System for MRI-guided Prostate Biopsy: Feasibility of Teleoperated Needle Insertion and ex vivo Phantom Study

1Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA.
2Surgical Planning Laboratory, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
Publication Date:
Int J Comput Assist Radiol Surg
Volume Number:
Issue Number:
Int J Comput Assist Radiol Surg. 2012 Mar;7(2):181-90.
PubMed ID:
Transperineal Prostate Biopsy, MRI compatible, Pneumatic robot, Teleoperation, Accuracy Evaluation, Phantom study
Appears in Collections:
NCIGT, Prostate Group, SLICER, SNR, SPL
P01 CA067165/CA/NCI NIH HHS/United States
R01 CA111288/CA/NCI NIH HHS/United States
R01 EB002963/EB/NIBIB NIH HHS/United States
P41 RR019703/RR/NCRR NIH HHS/United States
Generated Citation:
Seifabadi R., Song S-E., Krieger A., Cho N.B., Tokuda J., Fichtinger G., Iordachita I. Robotic System for MRI-guided Prostate Biopsy: Feasibility of Teleoperated Needle Insertion and ex vivo Phantom Study. Int J Comput Assist Radiol Surg. 2012 Mar;7(2):181-90. PMID: 21698389. PMCID: PMC3356244.
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Purpose: Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. Methods: We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master–slave needle driver module using piezo motors was also added to the base robot. Results: Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5 mm (STD = 1.37 mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master–slave needle driver was always below 0.1 mm. Conclusion: Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.

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