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MICCAI
2007
Springer

Robotic Assistant for Transperineal Prostate Interventions in 3T Closed MRI

14 years 4 months ago
Robotic Assistant for Transperineal Prostate Interventions in 3T Closed MRI
Abstract. Numerous studies have demonstrated the efficacy of imageguided needle-based therapy and biopsy in the management of prostate cancer. The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection and tissue deformation. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring such interventions due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. We have designed a comprehensive robotic assistant system that allows prostate biopsy and brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner. We present a detailed design of the robotic manipulator and an evaluation of its usability and MR compatibility.
Gregory S. Fischer, Simon P. DiMaio, Iulian Iordac
Added 14 Nov 2009
Updated 14 Nov 2009
Type Conference
Year 2007
Where MICCAI
Authors Gregory S. Fischer, Simon P. DiMaio, Iulian Iordachita, Gabor Fichtinger
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