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A fully actuated robotic assistant for MRI-guided prostate biopsy and brachytherapy
2013
Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling
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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
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 ...
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
2010
2010 IEEE Haptics Symposium
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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
2018
European Radiology
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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
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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]
2012
Intelligent Systems Reference Library
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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
2013
The international journal of robotics research
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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
2017
Biomedical Engineering
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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
2015
2015 International Conference on Advanced Robotics (ICAR)
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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
2021
Frontiers in Robotics and AI
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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
2011
Studies in Health Technology and Informatics
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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
2010
Imaging in Medicine
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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
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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
2010
2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
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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
2017
Annals of Biomedical Engineering
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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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