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A Workspace-orientated Needle-guiding Robot for 3T MRI-guided Transperineal Prostate Intervention: Evaluation of in-bore Workspace and MRI Compatibility

1National Center for Image-Guided Therapy, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, USA.
2Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
3School of Computing, Queen's University, Kingston, ON, Canada.
John Wiley & Sons, Inc.
Publication Date:
Int J Med Robot.
Volume Number:
Issue Number:
Int J Med Robot. 2013 Mar;9(1):67-74.
PubMed ID:
medical robotics, transperineal prostate intervention, workspace design analysis, MRI-compatible robot
Appears in Collections:
SNR, NCIGT, Prostate Group, SLICER, SPL
R01 CA111288/CA/NCI NIH HHS/United States
P01 CA067165/CA/NCI NIH HHS/United States
P41 EB015898/EB/NIBIB NIH HHS/United States
P41 RR019703/RR/NCRR NIH HHS/United States
R01 CA138586/CA/NCI NIH HHS/United States
R01 CA124377/CA/NCI NIH HHS/United States
Generated Citation:
Song S-E., Hata N., Iordachita I., Fichtinger G., Tempany C.M., Tokuda J. A Workspace-orientated Needle-guiding Robot for 3T MRI-guided Transperineal Prostate Intervention: Evaluation of in-bore Workspace and MRI Compatibility. Int J Med Robot. 2013 Mar;9(1):67-74. PMID: 22492680. PMCID: PMC3674858.
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Background: Magnetic resonance imaging (MRI)-guided prostate interventions have been introduced to enhance the cancer detection. For accurate needle positioning, in-bore-operated robotic systems have been developed and optimal use of the confined in-bore space become a critical engineering challenge. Methods: As preliminary evaluation of our prostate intervention robot, we conducted a workspace design analysis, using a new evaluation method that we developed for in-bore-operated robots for transperineal prostate interventions, and an MRI compatibility study. Results: The workspace analysis resulted in the effective workspace (VW) of 0.32, which is greater than that of our early prototype, despite the current robot being ca. 50% larger than the early prototype in sectional space. The MRI compatibility study resulted in<15% signal:noise ratio (SNR) reduction. Conclusions: The new workspace evaluation method quantifies the workspace utilization of the in-bore-operated robots for MRI-guided transperineal prostate interventions, providing a useful tool for evaluation and new robot design. The robot creates insignificant electromagnetic noise during typical prostate imaging sequences.

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