Title :
Design of a novel MRI compatible manipulator for image guided prostate intervention
Author :
Krieger, A. ; Susil, R.C. ; Fichtinger, G. ; Atalar, E. ; Whitcomb, L.L.
Author_Institution :
Dept. of Mechanical Eng., Johns Hopkins Univ., Baltimore, MD, USA
fDate :
26 April-1 May 2004
Abstract :
This work reports a novel remotely actuated manipulator for transrectal prostate imaging and intervention, designed for use in a standard cylindrical, high-field magnetic resonance imaging (MRI) scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Candidate procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in-vivo canine experiments are reported.
Keywords :
computer vision; image scanners; magnetic resonance imaging; manipulators; medical robotics; MRI guided needle biopsy; fiducial marker placements; image guided prostate intervention; in-vivo canine experiments; magnetic resonance imaging scanner; remotely actuated manipulator; therapy delivery; Biopsy; Diseases; Glands; Image resolution; Magnetic resonance imaging; Needles; Neoplasms; Prostate cancer; Testing; Ultrasonic imaging;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307179
