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Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

Reza Seifabadi, Sang-Eun Song, Axel Krieger, Nathan Bongjoon Cho, Junichi Tokuda, Gabor Fichtinger, Iulian Iordachita
2011 International Journal of Computer Assisted Radiology and Surgery  
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

Hao Su, Alex Camilo, Gregory A Cole, Nobuhiko Hata, Clare M Tempany, Gregory S Fischer
2011 Studies in Health Technology and Informatics  
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]

Hao Su, Gregory A. Cole, Gregory S. Fischer
2012 Intelligent Systems Reference Library  
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

Reza Seifabadi, Iulian Iordachita, Gabor Fichtinger
2012 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
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

Katarzyna J. Macura, Dan Stoianovici
2008 Topics in Magnetic Resonance Imaging (TMRI)  
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

Junichi Tokuda, Sang-Eun Song, Gregory S. Fischer, Iulian I. Iordachita, Reza Seifabadi, Nathan B. Cho, Kemal Tuncali, Gabor Fichtinger, Clare M. Tempany, Nobuhiko Hata
2012 International Journal of Computer Assisted Radiology and Surgery  
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

Hao Su, Ka-Wai Kwok, Kevin Cleary, Iulian Iordachita, M. Cenk Cavusoglu, Jaydev P. Desai, Gregory S. Fischer
2022 Proceedings of the IEEE  
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

Françoise J. Siepel, Bogdan Maris, Marcel K. Welleweerd, Vincent Groenhuis, Paolo Fiorini, Stefano Stramigioli
2021 Current Robotics Reports  
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

Dan Stoianovici, Danny Song, Doru Petrisor, Daniel Ursu, Dumitru Mazilu, Michael Mutener, Michael Schar, Alexandru Patriciu
2007 MITAT. Minimally invasive therapy & allied technologies  
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

Gregory S. Fischer, Iulian Iordachita, Csaba Csoma, Junichi Tokuda, Simon P. DiMaio, Clare M. Tempany, Nobuhiko Hata, Gabor Fichtinger
2008 IEEE/ASME transactions on mechatronics  
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

Sang-Eun Song, Nathan Cho, Junichi Tokuda, Nobuhiko Hata, Clare Tempany, Gabor Fichtinger, Iulian Iordachita
2010 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics  
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]

Ming Li, Dumitru Mazilu, Ankur Kapoor, Keith A.
2010 Advances in Robot Manipulators  
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

Nikolaos V. Tsekos, Azadeh Khanicheh, Eftychios Christoforou, Constantinos Mavroidis
2007 Annual Review of Biomedical Engineering  
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

Hao Su, Iulian I. Iordachita, Junichi Tokuda, Nobuhiko Hata, Xuan Liu, Reza Seifabadi, Sheng Xu, Bradford Wood, Gregory S. Fischer
2017 IEEE Sensors Journal  
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

Reza Seifabadi, Fereshteh Aalamifar, Iulian Iordachita, Gabor Fichtinger
2015 International Journal of Medical Robotics and Computer Assisted Surgery  
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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