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Proceedings Paper

A networked modular hardware and software system for MRI-guided robotic prostate interventions
Author(s): Hao Su; Weijian Shang; Kevin Harrington; Alex Camilo; Gregory Cole; Junichi Tokuda; Nobuhiko Hata; Clare Tempany; Gregory S. Fischer
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Paper Abstract

Magnetic resonance imaging (MRI) provides high resolution multi-parametric imaging, large soft tissue contrast, and interactive image updates making it an ideal modality for diagnosing prostate cancer and guiding surgical tools. Despite a substantial armamentarium of apparatuses and systems has been developed to assist surgical diagnosis and therapy for MRI-guided procedures over last decade, the unified method to develop high fidelity robotic systems in terms of accuracy, dynamic performance, size, robustness and modularity, to work inside close-bore MRI scanner still remains a challenge. In this work, we develop and evaluate an integrated modular hardware and software system to support the surgical workflow of intra-operative MRI, with percutaneous prostate intervention as an illustrative case. Specifically, the distinct apparatuses and methods include: 1) a robot controller system for precision closed loop control of piezoelectric motors, 2) a robot control interface software that connects the 3D Slicer navigation software and the robot controller to exchange robot commands and coordinates using the OpenIGTLink open network communication protocol, and 3) MRI scan plane alignment to the planned path and imaging of the needle as it is inserted into the target location. A preliminary experiment with ex-vivo phantom validates the system workflow, MRI-compatibility and shows that the robotic system has a better than 0.01mm positioning accuracy.

Paper Details

Date Published: 17 February 2012
PDF: 8 pages
Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83161Z (17 February 2012); doi: 10.1117/12.912292
Show Author Affiliations
Hao Su, Worcester Polytechnic Institute (United States)
Weijian Shang, Worcester Polytechnic Institute (United States)
Kevin Harrington, Worcester Polytechnic Institute (United States)
Alex Camilo, Worcester Polytechnic Institute (United States)
Gregory Cole, Worcester Polytechnic Institute (United States)
Junichi Tokuda, Brigham and Women's Hospital (United States)
Nobuhiko Hata, Brigham and Women's Hospital (United States)
Clare Tempany, Brigham and Women's Hospital (United States)
Gregory S. Fischer, Worcester Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 8316:
Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling
David R. Holmes; Kenneth H. Wong, Editor(s)

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