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A fully actuated robotic assistant for MRI-guided prostate biopsy and brachytherapy

Gang Li, Hao Su, Weijian Shang, Junichi Tokuda, Nobuhiko Hata, Clare M. Tempany, Gregory S. Fischer, David R. Holmes, Ziv R. Yaniv
2013 Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling  
Intra-operative medical imaging enables incorporation of human experience and intelligence in a controlled, closed-loop fashion.  ...  The high magnetic field, electrical interference, and limited access of closed-bore MRI render great challenges to developing robotic systems that can perform inside a diagnostic high-field MRI while obtaining  ...  ACKNOWLEDGEMENTS This work is supported in part by the Congressionally Directed Medical Research Programs Prostate Cancer Research Program (CDMRP PCRP) New Investigator Award W81XWH-09-1-0191, the American  ... 
doi:10.1117/12.2007669 pmid:25076821 pmcid:PMC4112766 fatcat:sqeqy5vvujd4zfbe3z3ejxridm

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  ...  Deploying robotic systems inside the bore synergizes the visual capability of MRI and the manipulation capability of robotic assistance, resulting in a closed-loop surgery architecture.  ...  [9] reported a clinical evaluation of a 2-D planar robotic needle guide template for in-bore transperineal MRI-guided prostate biopsy with 96 patients.  ... 
doi:10.1109/jproc.2022.3169146 fatcat:acpw6dahirch7jwxkypbw42qq4

Haptic system design for MRI-guided needle based prostate brachytherapy

Hao Su, Weijian Shang, Gregory A. Cole, Kevin Harrington, Gregory S. Fischer
2010 2010 IEEE Haptics Symposium  
We developed the force sensor which provides in-vivo measurement of needle insertion forces to render proprioception associated with the brachytherapy procedure.  ...  We discuss the sensing principle of the optical sensor which enables two degrees-of-freedom (DOF) torque measurement and one DOF force measurement.  ...  On the other hand, the current MRI-guided biopsy procedures are performed with the patient outside the scanner bore due to the space constraint.  ... 
doi:10.1109/haptic.2010.5444612 dblp:conf/haptics/SuSCHF10 fatcat:nfobulmd2nfujadekdvi42yj2q

Fast 3-T MR-guided transrectal prostate biopsy using an in-room tablet device for needle guide alignment: a feasibility study

Christiaan G. Overduin, Jan Heidkamp, Eva Rothgang, Jelle O. Barentsz, Frank de Lange, Jurgen J. Fütterer
2018 European Radiology  
Methods Twenty patients with one cancer-suspicious region (CSR) with PI-RADS score ≥ 4 on diagnostic multiparametric MRI were prospectively enrolled.  ...  Targeting was achieved by manipulating the needle-guide under MR fluoroscopy feedback on the in-room tablet device. Technical feasibility and targeting success were assessed.  ...  Compliance with ethical standards Guarantor The scientific guarantor of this publication is Prof. Dr. J.J. Fütterer.  ... 
doi:10.1007/s00330-018-5497-9 pmid:29789909 fatcat:yc4nvw4aardqdclxki6wuzyvxu

Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback

Weijian Shang, Hao Su, Gang Li, Gregory S. Fischer
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore.  ...  This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle.  ...  This kind of MRI scanner bore imposes several challenges on MRI-guided needle placement procedures.  ... 
doi:10.1109/iros.2013.6696942 pmid:25126446 pmcid:PMC4128939 fatcat:phuxh6l5czh3nndqdvfoy6ra3i

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  
The rationale of MRI-guided surgery with robot-assistance is to perform surgical interventions utilizing "realtime" image feedback while minimize operation time and improves the surgical outcomes.  ...  Preliminary experiments in phantom studies evaluate system MRI compatibility, workflow, visualization and targeting accuracy.  ...  The potential role of robotics in MRI-guided prostate interventions was thoroughly discussed in [18] and a clinical overview of MRI-guided biopsy of the prostate is presented in [34] .  ... 
doi:10.1007/978-3-642-23363-0_1 fatcat:qgzb6fsij5ebjm56ha4gshvy5q

Design, development, and evaluation of a master–slave surgical system for breast biopsy under continuous MRI

Bo Yang, Steven Roys, U-Xuan Tan, Mathew Philip, Howard Richard, Rao P. Gullapalli, Jaydev P. Desai
2013 The international journal of robotics research  
However, the strong magnetic field inside the MRI bore along with limited scanner bore size poses significant challenges.  ...  Based on the MRI experiments using the slave robot, there was no significant distortion in the images and hence the slave robot can be safely operated inside the MRI with minimal loss in signal-to-noise  ...  This enables the placement of the biopsy needle in 3D.  ... 
doi:10.1177/0278364913500365 pmid:25313266 pmcid:PMC4193388 fatcat:svgmiomqzbbxxif5upc74kqbda

Poster session 4. Image guided, robotic and miniaturised systems for intervention and therapy I

Sven Böttger, Svenja Ipsen, Mohammed Al-Badri, Floris Ernst, Achim Schweikard
2017 Biomedical Engineering  
Additionally, an adapted hand guiding mode was implemented, allowing for manual position corrections and enabling the patient to push the robot arm away in case of hazard or discomfort.  ...  Its control signals are transmitted to the robot in real-time with latencies < 1 ms.  ...  Therefore MRI-guided biopsies are performed mostly freehand and with high effort by the clinician.  ... 
doi:10.1515/bmt-2017-5025 fatcat:zzphifp655a6zcxw43fkvkta3e

Development of an MRI-compatible needle driver for in-bore prostate biopsy

Meng Li, Berk Gonenc, Kiyoung Kim, Weijian Shang, Iulian Iordachita
2015 2015 International Conference on Advanced Robotics (ICAR)  
In this paper, we report the development of an MRI-compatible needle driver for in-bore prostate biopsy.  ...  It is the first robotic device using a standard biopsy gun, which is easily replaceable/detachable in case of multi-sampling biopsy applications.  ...  Acknowledgments The authors thank Michael Pozin for his contributions in setting up the experiments.  ... 
doi:10.1109/icar.2015.7251445 pmid:29242855 pmcid:PMC5726864 dblp:conf/icar/LiGKSI15 fatcat:sfc5ahofo5flxofifvpyr3hffu

Robot-Assisted Image-Guided Interventions

Michael Unger, Johann Berger, Andreas Melzer
2021 Frontiers in Robotics and AI  
This paper offers a brief overview of the developments of robotic systems for image-guided interventions since 2015 and includes samples of our current research in this field.  ...  Robotic systems have been developed to enable and improve the procedures using these imaging techniques. Spatial and technological constraints limit the development of versatile robotic systems.  ...  ., United States) to provide telemanipulation with force feedback capabilities. DISCUSSION Robotic systems for image-guided interventions have been published to a large extend.  ... 
doi:10.3389/frobt.2021.664622 fatcat:f4ghwappj5bfndftwxvjil5xke

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  
The fabricated prototype is presented and an experiment with phantom trials in 3T MRI is analyzed to demonstrate the system compatibility.  ...  The needle driver module provides for needle cannula rotation, needle insertion and cannula retraction to enable the brachytherapy procedure with the preloaded needles.  ...  The overall goal is to provide force feedback using fiber optic force sensor during interventional MRI-guided prostate interventions [13] [14] .  ... 
pmid:21335868 pmcid:PMC4077613 fatcat:bvng6ioajza4pmnmh75va5liqe

MRI of the prostate: potential role of robots

Jurgen J Fütterer, Sarthak Misra, Katarzyna J Macura
2010 Imaging in Medicine  
The authors have no other relevant affiliations or financial involvement with any organization or entity with a financial interest in or financial conflict with the subject matter or materials discussed  ...  in the manuscript apart from those disclosed.  ...  At the NIH, transrectal MR-guided prostate biopsies and brachytherapy were performed in a closed-bore 1.5-T scanner [43, 51] .  ... 
doi:10.2217/iim.10.46 fatcat:ljxnbuciczfypo56ynvp3rrr2i

Table of contents

2020 IEEE Transactions on Haptics  
Hu 152 Enabling In-Bore MRI-Guided Biopsies With Force Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Bianchi 239 Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/toh.2020.2978307 fatcat:gjqdysfrrndd3gkf6ppq3tqvle

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  
Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment.  ...  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  ...  Beyersdorff et al. performed transrectal biopsy in a 1.5T MRI scanner with a passive articulated needle guide [10] . B.  ... 
doi:10.1109/biorob.2010.5626987 pmid:21132087 pmcid:PMC2995896 fatcat:wreggqbzdbeutfrtyx2phvxxh4

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device

Hao Su, Weijian Shang, Gang Li, Niravkumar Patel, Gregory S. Fischer
2017 Annals of Biomedical Engineering  
interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging.  ...  By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge  ...  Partnership 1R01CA111288-01A1, and Link Foundation Fellowship in Advanced Simulation and Training.  ... 
doi:10.1007/s10439-017-1839-z pmid:28447178 pmcid:PMC5529224 fatcat:bpirhewjonhbpfmyzlthqmorgu
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