Robotic Prostate Biopsy in Closed MRI Scanner

Abstract

MRI is an ideal interventional guidance modality: it provides near real-time high-resolution images at arbitrary orientations and is able to monitor therapeutic agents, surgical tools, biomechanical tissue properties, and physiological function. Yet, there is currently no technological solution exists to assist MRI guided prostate interventions in an accurate, simple, and economical manner. The objective was to make conventional diagnostic closed high-field MRI scanners available for guiding prostatic needle placement interventions through the use of a remotely actuated robotic needle placement system in standard closed high-field magnets, optimized for transperineal prostate biopsy. In achieving this goal, we have designed a robotic system, constructed the prototype robot and controller, integrated it into a complete system for image-guided surgery, and performed initial validation studies.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 2009
Accession Number
ADA502842

Entities

People

  • Gregory Fischer

Organizations

  • Johns Hopkins University

Tags

Communities of Interest

  • Autonomy
  • Biomedical

DTIC Thesaurus Topics

  • Actuators
  • Brushless Dc Motors
  • Composite Materials
  • Computer Science
  • Control Systems
  • Coordinate Systems
  • Detectors
  • Electrical Engineering
  • Electronic Mail
  • Engineering
  • Graphical User Interface
  • Health Services
  • Magnetic Resonance
  • Mechanical Engineering
  • Mechatronic Engineering
  • Medical Personnel
  • Three Dimensional

Fields of Study

  • Medicine
  • Physics

Readers

  • Medical Imaging.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy