Title :
Robotic System for Transrectal Biopsy of the Prostate: Real-Time Guidance Under MRI
Author :
Elhawary, Haytham ; Tse, Zion Tsz-ho ; Rea, Marc ; Zivanovic, Alex ; Davies, Brian L. ; Besant, Colin ; de Souza, N. ; Mcrobbie, Donald ; Young, Ian ; Lamperth, Michael U.
Author_Institution :
Mech. Eng. Dept., Imperial Coll. London, London, UK
Abstract :
In this paper, to harness the possibility of real-time guidance of MRI, a robotic system has been developed to perform transrectal prostate biopsy inside a 1.5-T closed bore scanner. A specially developed MR pulse sequence is capable of tracking the needle location in real time while dynamically updating the scan planes to always include the needle and target.
Keywords :
biological organs; biomedical MRI; biomedical electronics; cancer; image sequences; medical image processing; medical robotics; MR pulse sequence; MRI; closed bore scanner; magnetic flux density 1.5 T; needle location tracking; prostate; real-time guidance; robotic system; scan planes; transrectal biopsy; Biopsy, Needle; Computer Systems; Equipment Design; Humans; Magnetic Resonance Imaging; Male; Prostatic Neoplasms; Rectum; Robotics; Surgery, Computer-Assisted; User-Computer Interface;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
DOI :
10.1109/MEMB.2009.935709
