An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention

Abstract

This paper reports the development, evaluation, and first clinical trials of the access to the prostate tissue (APT) II system—a scanner independent system for magnetic resonance imaging (MRI)-guided transrectal prostate interventions. The system utilizes novel manipulator mechanics employing a steerable needle channel and a novel six degree-of-freedom hybrid tracking method, comprising passive fiducial tracking for initial registration and subsequent incremental motion measurements. Targeting accuracy of the system in prostate phantom experiments and two clinical human-subject procedures is shown to compare favorably with existing systems using passive and active tracking methods. The portable design of the APT II system, using only standard MRI image sequences and minimal custom scanner interfacing, allows the system to be easily used on different MRI scanners.

Transperineal In-Bore 3-T MR Imaging–guided Prostate Biopsy: A Prospective Clinical Observational Study

“…MR imaging allowed identification of and was used to obtain biopsies from 1.39 (37) There are important differences in adverse events in the comparison of transrectal and transperineal approaches. In-bore or out-of-bore trans rectal MR imaging-guided biopsy shares the same urosepsis risk as transrectal US, and whole-gland access can be limited, because the clinically available transrectal devices do not allow free manipulation of the needle in the bore or image-guided repositioning in real time, and the needle and target locations may not be confirmed (44).…”

A Review of Localization Systems for Robotic Endoscopic Capsules

“…However, the need for customprogrammed pulse sequences which are different from the standard pulse sequences of commercial MRI scanners would be a disadvantage of this method [82][83].…”

Robotic-assisted real-time MRI-guided TAVR: from system deployment to in vivo experiment in swine model

“…Magnetic resonance (MR)-compatible robotic systems have been developed for various medical interventions, from prostate brachytherapy to neurosurgery [12][13][14][15][16][17][18][19][20]. Among all MR-compatible systems, two general-purpose devices have been designed for use with a standard closed-bore scanner [21,22].…”