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

Volume

1

fYear

2004

fDate

26 April-1 May 2004

Firstpage

377

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307179

Filename

1307179