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Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study
2011
International Journal of Computer Assisted Radiology and Surgery
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Methods We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. ...
To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master-slave needle driver module using piezo motors was also added to the base ...
Several MRI-compatible robots have been reported for prostate intervention. ...
doi:10.1007/s11548-011-0598-9
pmid:21698389
pmcid:PMC3356244
fatcat:i5ljhfol5zbfbl2qpco5ueovri
High-field MRI-compatible needle placement robot for prostate interventions
2011
Studies in Health Technology and Informatics
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This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. ...
An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive ...
Acknowledgements We gratefully acknowledge the support from the Congressionally Directed Medical Research Programs Prostate Cancer Research Program New Investigator Award W81XWH-09-1-0191 and Worcester ...
pmid:21335868
pmcid:PMC4077613
fatcat:bvng6ioajza4pmnmh75va5liqe
High-Field MRI-Compatible Needle Placement Robots for Prostate Interventions: Pneumatic and Piezoelectric Approaches
[chapter]
2012
Intelligent Systems Reference Library
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It articulates the robotic mechanism, actuator and sensor design, controller design and system integration for a pneumatically actuated robotic needle guide and a piezoelectrically actuated needle placement ...
This chapter presents two distinct MRI-compatible approaches for image-guided transperineal prostate needle placement. ...
A most recent MRI-guided neurosurgical robot [46] was developed by Sutherland et. al. Goldenberg et al. [21] proposed an MRI-compatible robotic system for image-guided prostatic interventions. ...
doi:10.1007/978-3-642-23363-0_1
fatcat:qgzb6fsij5ebjm56ha4gshvy5q
Design of a teleoperated needle steering system for MRI-guided prostate interventions
2012
2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
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Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command ...
The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. ...
Gabor Fichtinger was supported as a Cancer Care Ontario Research Chair. ...
doi:10.1109/biorob.2012.6290862
pmid:24649480
pmcid:PMC3955892
fatcat:tcmq5xnqzndufeuyghreveoyei
Advancements in Magnetic Resonance-Guided Robotic Interventions in the Prostate
2008
Topics in Magnetic Resonance Imaging (TMRI)
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As technology matures, precise image guidance for prostate interventions performed or assisted by specialized MRcompatible robotic devices may provide a uniquely accurate solution for guiding the intervention ...
Building an MRI-compatible robot is a very challenging engineering task because, in addition to the material restrictions that MRI instruments have, the robot requires actuators and sensors that limit ...
DESIGN REQUIREMENTS OF MR-COMPATIBLE ROBOTS Numerous forms can be found for the definition of a robot. ...
doi:10.1097/rmr.0b013e3181aa68b8
pmid:19512852
pmcid:PMC3099454
fatcat:7rblom7irjdthnlvpiywmsmobe
Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions
2012
International Journal of Computer Assisted Radiology and Surgery
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for clinical MRI-guided prostate interventions. ...
Methods We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate ...
To assist transperineal procedures in the bore, several groups have developed MRI-compatible robotic devices to numerically guide a needle into the prostate. ...
doi:10.1007/s11548-012-0750-1
pmid:22678723
pmcid:PMC3692285
fatcat:wan3cmg5bjeovlhi6cwdw2bdym
State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions
2022
Proceedings of the IEEE
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The use of robotic assistants within the MRI bore, alongside the patient during imaging, enables intraoperative MR imaging (iMRI) to guide a surgical intervention in a closed-loop fashion that can include ...
With the ever-expanding clinical use of MRI, MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately ...
Design Requirements of Robots for Intraoperative MRI-Guided Surgery and Interventions Challenges for robot-assisted MRI-guided interventions arise from electromagnetic compatibility due to the MRI environment ...
doi:10.1109/jproc.2022.3169146
pmid:35756185
pmcid:PMC9231642
fatcat:acpw6dahirch7jwxkypbw42qq4
Needle and Biopsy Robots: a Review
2021
Current Robotics Reports
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Purpose of the review Robotics is a rapidly advancing field, and its introduction in healthcare can have a multitude of benefits for clinical practice. ...
Recent findings Percutaneous interventions are relatively simple and the quality of the procedure increases a lot by introducing robotics due to the improved accuracy and precision. ...
Prototype tested
Y Zhang [54]
MRI-compatible robot for
intervention
MRI
7 DOF total
Cables, belts
2015
N/A
Breast
N/A
T Zhang [55]
A novel palm-shape robot for
MRI-guided biopsy ...
doi:10.1007/s43154-020-00042-1
fatcat:ncwhc6k3eve2znqcrv6fppyii4
"MRI Stealth" robot for prostate interventions
2007
MITAT. Minimally invasive therapy & allied technologies
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The robot shows the technical feasibility of MRI-guided prostate interventions, yet its clinical utility is still to be determined. ...
Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. ...
Acknowledgement: This work was supported by the National Cancer Institute (NCI) of the National Institutes of Health (NIH) under Grant CA88232, the Prostate Cancer Foundation (PCF), and the Patrick C. ...
doi:10.1080/13645700701520735
pmid:17763098
pmcid:PMC3106223
fatcat:o6gzzx3qrrgkfnqyytv6vztjaa
MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement
2008
IEEE/ASME transactions on mechatronics
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Magnetic resonance imaging (MRI) can provide highquality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring ...
Index Terms-Magnetic resonance imaging (MRI) compatible robotics, pneumatic control, prostate brachytherapy and biopsy. ...
A thorough review of MRI compatible systems to date for image-guided interventions by Tsekos et al. can be found in [11] . ...
doi:10.1109/tmech.2008.924044
pmid:21057608
pmcid:PMC2974180
fatcat:ljptflyhknehnd4hn5aum4r4fa
Preliminary evaluation of a MRI-compatible modular robotic system for MRI-guided prostate interventions
2010
2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
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To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional ...
Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. ...
Acknowledgments This work is supported by National Institute of Health Grants: 1R01CA111288, 5P01CA067165 and 5U41RR019703. ...
doi:10.1109/biorob.2010.5626987
pmid:21132087
pmcid:PMC2995896
fatcat:wreggqbzdbeutfrtyx2phvxxh4
MRI Compatible Robot Systems for Medical Intervention
[chapter]
2010
Advances in Robot Manipulators
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Krieger and colleagues developed a 3-DoF manipulator for MRI guided transrectal prostate (Krieger et al., 2005) . ...
Control strategy and human machine interface for MRI compatible robotic systems for medical interventions need to be studied. ...
The concept of eclecticism for the design, development, simulation and implementation of a real time controller for an intelligent, vision guided robots is now being explored. ...
doi:10.5772/9675
fatcat:ar7m7odwnbcdxiutmmak2t3ose
Magnetic Resonance–Compatible Robotic and Mechatronics Systems for Image-Guided Interventions and Rehabilitation: A Review Study
2007
Annual Review of Biomedical Engineering
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Revolutionary robots guided by real-time three-dimensional (3-D)-MRI allow reliable and precise minimally invasive interventions with relatively short recovery times. ...
demand for the development of magnetic resonance (MR)compatible robotic/mechatronic systems. ...
A MR-compatible device for image-guided biopsy and therapeutic procedures in the prostate was developed by Susil et al. (22, 23) and further improved by Krieger et al. (16) (Figures 2 and 3) . ...
doi:10.1146/annurev.bioeng.9.121806.160642
pmid:17439358
fatcat:q76gfrkrbfarxlfujbhr3qgu64
Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review
2017
IEEE Sensors Journal
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The last two decades have witnessed the manifestation of increased interest in MRI-guided minimally invasive intervention procedures and fMRI for rehabilitation and neuroscience research. ...
Accompanying the aspiration to utilize MRI to provide imaging feedback during interventions and brain activity for ...
Program of the NIH, NIH R01CA166379, NIH R01CA111288, and Link Foundation Fellowships in Advanced Simulation and Training. ...
doi:10.1109/jsen.2017.2654489
pmid:28652857
pmcid:PMC5482288
fatcat:4gj32ubq3jagtfqyjiqmgkb2ny
Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions
2015
International Journal of Medical Robotics and Computer Assisted Surgery
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and roll) robotic platform for MRI-guided prostate interventions. ...
Methods: a 2-DOF MRI-compatible needle steering module (called slave robot) is developed and integrated with an existing 4-DOF transperineal robot, creating a fully actuated 6-DOF (x, y, z, yaw, pitch, ...
Gabor Fichtinger was supported as a Cancer Care Ontario Research Chair. The authors also sincerely thank Dr. Kevin Cleary and Dr. ...
doi:10.1002/rcs.1692
pmid:26264564
fatcat:elly2psdxrgvdnudohzr5yz4ee
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