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Proceedings Paper

A fully actuated robotic assistant for MRI-guided prostate biopsy and brachytherapy
Author(s): Gang Li; Hao Su; Weijian Shang; Junichi Tokuda; Nobuhiko Hata; Clare M. Tempany; Gregory S. Fischer
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Paper Abstract

Intra-operative medical imaging enables incorporation of human experience and intelligence in a controlled, closed-loop fashion. Magnetic resonance imaging (MRI) is an ideal modality for surgical guidance of diagnostic and therapeutic procedures, with its ability to perform high resolution, real-time, high soft tissue contrast imaging without ionizing radiation. However, for most current image-guided approaches only static pre-operative images are accessible for guidance, which are unable to provide updated information during a surgical procedure. The high magnetic field, electrical interference, and limited access of closed-bore MRI render great challenges to developing robotic systems that can perform inside a diagnostic high-field MRI while obtaining interactively updated MR images. To overcome these limitations, we are developing a piezoelectrically actuated robotic assistant for actuated percutaneous prostate interventions under real-time MRI guidance. Utilizing a modular design, the system enables coherent and straight forward workflow for various percutaneous interventions, including prostate biopsy sampling and brachytherapy seed placement, using various needle driver configurations. The unified workflow compromises: 1) system hardware and software initialization, 2) fiducial frame registration, 3) target selection and motion planning, 4) moving to the target and performing the intervention (e.g. taking a biopsy sample) under live imaging, and 5) visualization and verification. Phantom experiments of prostate biopsy and brachytherapy were executed under MRI-guidance to evaluate the feasibility of the workflow. The robot successfully performed fully actuated biopsy sampling and delivery of simulated brachytherapy seeds under live MR imaging, as well as precise delivery of a prostate brachytherapy seed distribution with an RMS accuracy of 0.98mm.

Paper Details

Date Published: 12 March 2013
PDF: 8 pages
Proc. SPIE 8671, Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling, 867117 (12 March 2013); doi: 10.1117/12.2007669
Show Author Affiliations
Gang Li, Worcester Polytechnic Institute (United States)
Hao Su, Worcester Polytechnic Institute (United States)
Weijian Shang, Worcester Polytechnic Institute (United States)
Junichi Tokuda, Brigham and Women's Hospital (United States)
Nobuhiko Hata, Brigham and Women's Hospital (United States)
Clare M. Tempany, Brigham and Women's Hospital (United States)
Gregory S. Fischer, Worcester Polytechnic Institute (United States)


Published in SPIE Proceedings Vol. 8671:
Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling
David R. Holmes; Ziv R. Yaniv, Editor(s)

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