MRI Robot for Prostate Surgery

From WPI Automation and Interventional Medicine (AIM) Robotics Laboratory

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MRI has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. MRI can provide high-quality 3D visualization of prostate and surrounding tissue. However, the benefits can not be readily harnessed for interventional procedures due to difficulties that surround the use of highfield (1.5T or greater). The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners.



Related Publications

  1. Fischer GS, Iordachita I, Csoma C, Tokuda J, DiMaio SP, Tempany CM, Hata N, Fichtinger G, MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement, IEEE / ASME Transactions on Mechatronics – Focused section on MRI Compatible Mechatronic Systems, Vol 13, No 3, pp 295-305, June 2008. IEEE
  2. Fischer GS, Krieger A, Iordachita I, Csoma C, Whitcomb L, Fichtinger G, MRI Compatibility of Robot Actuation Techniques – A Comparative Study, 11th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008, New York, NY, Lecture Notes on Computer Science, Vol 5242, pp 509-517, Springer, September 2008. Springer
  3. Tokuda J, Fischer GS, Csoma C, DiMaio SP, Gobbi DG, Fichtinger G, Tempany C, Hata N, Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI, 11th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008, New York, NY, Lecture Notes on Computer Science, Vol 5242, pp 701-709, Springer, September 2008. Springer
  4. Fischer GS, Iordachita I, Csoma C, Tokuda J, Mewes PW, Tempany CM, Hata N, Fichtinger G, Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions, International Conference on Robotics and Automation - ICRA 2008, Pasadena, CA, pp 2489-2495, May 2008. IEEE
  5. Mewes PW, Tokuda J, DiMaio SP, Fischer GS, Csoma C, Gobbi DG, Tempany CM, Fichtinger G, Hata N, An Integrated MRI and Robot Control Software for an MRI-compatible Robot in Prostate Intervention, International Conference on Robotics and Automation - ICRA 2008, Pasadena, CA, pp 2959-2962, May 2008. IEEE
  6. Fischer GS, Iordachita I, DiMaio SP, Fichtinger G, Development of a Robotic Assistant for Needle-Based Transperineal Prostate Interventions in MRI, 10th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007, Brisbane, Australia, Lecture Notes on Computer Science, Vol 4791, pp 425-433, Springer, November 2007. Springer, PubMed
  7. DiMaio S, Samset E, Fischer GS, Iordachita I, Fichtinger G, Jolesz F, Tempany C, Dynamic MRI Scan Plane Control for Passive Tracking of Instruments and Devices, 10th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007, Brisbane, Australia, Lecture Notes on Computer Science, Vol 4792, pp 50-58, Springer, November 2007. Springer, PubMed
  8. Fischer GS, Iordachita I, DiMaio SP, Fichtinger G, Design of a Robot for Transperineal Prostate Needle Placement in an MRI Scanner, IEEE International Conference on Mechatronics - ICM 2006, Budapest, Hungary, July 2006. IEEE
  9. DiMaio SP, Fischer GS, Haker SJ, Hata N, Iordachita I, Tempany CM, Fichtinger G, System for MRI-guided Prostate Interventions, IEEE International Conference on Biomedical Robotics and Biomechatronics - BioRob 2006, Pisa, Italy, February 2006. IEEE
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