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Accuracy Study of a Robotic System for MRI-guided Prostate Needle Placement

1Laboratory for Percutaneous Surgery Queen’s University, Kingston, ON, Canada.
2Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
3Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
John Wiley & Sons, Inc.
Publication Date:
The International Journal of Medical Robotics and Computer Assisted Surgery
Volume Number:
Issue Number:
Int J Med Robot. 2013 Sep;9(3):305-16.
PubMed ID:
MRI-compatible robot, phantom study, Prostate Biopsy, transperineal access, Accuracy Assessment
Appears in Collections:
SNR, NCIGT, Prostate Group, SLICER, SPL
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 CA111288/CA/NCI NIH HHS/United States
R01 CA124377/CA/NCI NIH HHS/United States
Generated Citation:
Seifabadi R., Cho N.B., Song S-E., Tokuda J., Hata N., Tempany C.M., Fichtinger G., Iordachita I. Accuracy Study of a Robotic System for MRI-guided Prostate Needle Placement. Int J Med Robot. 2013 Sep;9(3):305-16. PMID: 22678990 . PMCID: PMC3772968.
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Accurate needle placement is the first concern in percutaneous MRI-guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI-guided robot for prostate biopsy have been identified, quantified and minimized to the possible extent. METHODS: The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called 'before-insertion error') and the error associated with needle-tissue interaction (called 'due-to-insertion error'). Before-insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4-DOF manipulator's error. The due-to-insertion error was indirectly approximated by comparing the overall error and the before-insertion error. The effect of sterilization on the manipulator's accuracy and repeatability was also studied. RESULTS: The average overall system error in the phantom study was 2.5 mm (STD = 1.1 mm). The average robotic system error in the Super Soft plastic phantom was 1.3 mm (STD = 0.7 mm). Assuming orthogonal error components, the needle-tissue interaction error was found to be approximately 2.13 mm, thus making a larger contribution to the overall error. The average susceptibility artifact shift was 0.2 mm. The manipulator's targeting accuracy was 0.71 mm (STD = 0.21 mm) after robot calibration. The robot's repeatability was 0.13 mm. Sterilization had no noticeable influence on the robot's accuracy and repeatability. CONCLUSIONS: The experimental methodology presented in this paper may help researchers to identify, quantify and minimize different sources contributing into the overall needle placement error of an MRI-guided robotic system for prostate needle placement. In the robotic system analysed here, the overall error of the studied system remained within the acceptable range.

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