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Preclinical Evaluation of an MRI-compatible Pneumatic Robot for Angulated Needle Placement in Transperineal Prostate Interventions
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Tokuda J.1, Song S-E.1, Fischer G.S.2, Iordachita I.3, Seifabadi R.4, Cho N.B.3, Tuncali K.1, Fichtinger G.4, Tempany C.M.1, Hata N.1
Institution: |
1Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA. 2Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA. 3Laboratory for Computer Science, Johns Hopkins University, Baltimore, MD, USA. 4School of Computing, Queen's University, Kingston, ON, Canada. |
Publisher: |
Springer Publishing |
Publication Date: |
Nov-2012 |
Journal: |
Int J Comput Assist Radiol Surg |
Volume Number: |
7 |
Issue Number: |
6 |
Pages: |
949-57 |
Citation: |
Int J Comput Assist Radiol Surg. 2012 Nov;7(6):949-57. |
PubMed ID: |
22678723 |
PMCID: |
PMC3692285 |
Keywords: |
MRI-guided therapy, Biopsy, Medical robotics, Brachytherapy, Prostate Cancer |
Appears in Collections: |
SNR, NCIGT, Prostate Group, SLICER, SPL |
Sponsors: |
P41 RR019703/RR/NCRR NIH HHS/United States P01 CA067165/CA/NCI NIH HHS/United States P41 EB015898/EB/NIBIB NIH HHS/United States R01 CA111288/CA/NCI NIH HHS/United States R01 CA124377/CA/NCI NIH HHS/United States R01 CA138586/CA/NCI NIH HHS/United States |
Generated Citation: |
Tokuda J., Song S-E., Fischer G.S., Iordachita I., Seifabadi R., Cho N.B., Tuncali K., Fichtinger G., Tempany C.M., Hata N. Preclinical Evaluation of an MRI-compatible Pneumatic Robot for Angulated Needle Placement in Transperineal Prostate Interventions. Int J Comput Assist Radiol Surg. 2012 Nov;7(6):949-57. PMID: 22678723. PMCID: PMC3692285. |
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Purpose: To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. Methods: We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner. The robot is designed to guide a needle toward a lesion so that a radiologist can manually insert it in the bore. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between −5.7◦ and 5.7◦ horizontally and between −5.7◦ and 4.3◦ vertically in the MRI scanner after sterilizing and draping the device. Results: The robot positioned the needle for angulated insertion as specified on the navigation software with overall targeting error of 0.8 ± 0.5mm along the horizontal axis and 0.8 ± 0.8mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4mm. Conclusions: Our preclinical evaluation demonstrated that the MRI-compatible pneumatic robot for needle placement with the capability to angulate the needle insertion path provides targeting accuracy feasible for clinical MRI-guided prostate interventions. The clinical feasibility has to be established in a clinical study.
Additional Material
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