Design of a Dedicated Five Degree-of-Freedom Magnetic Resonance Imaging Compatible Robot for Image Guided Prostate Biopsy

Chen, Longquan; Paetz, Torben; Dicken, Volker; Krass, Scheherazade; Issawi, Jumana Al; Ojdanic, Darko; Kraß, Stefan; Tigelaar, Gerrit; Sabisch, Jan; Poelgeest, Auguste van; Schaechtele, J.

doi:10.1115/1.4029506

Cited by 11 publications

(6 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Wartenberg et al [99] extended the concept of co-operative control with active compensation of needle deflection to keep the physician in the loop to achieve intra-operatively closedloop control and demonstrated RMS accuracy of 3.56 . Chen et al [118] presented an MR-Safe PN robot of compact design with 5 DOF, commercialized by Soteria Medical for prostate BX while keeping the patient in a prone position. The robot aids in needle guide positioning and the physician performs manual needle insertion with semiautomated guidance under manual trajectory planning for navigation using MeVisLab software.…”

Section: E Mri Based Robotic Developments For Prostate Interventionsmentioning

confidence: 99%

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Dhaliwal

Chettibi

Wilby

et al. 2021

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

Low Dose Rate Brachytherapy (LDR-BT) is a technique for treating localized prostate cancer by implanting radioactive seeds. In conventional practice, the delivery of seeds is performed using transrectal ultrasonography (TRUS) imaging for implant guidance and checked using computed-tomography for post-implant dosimetry. In the case of TRUS, accuracy can be compromised due to sub-optimal imaging. Magnetic Resonance Imaging (MRI), however, is known to provide better soft-tissue contrast, therefore, increasing the ability to detect small lesions; for that reason, the integration of intraoperative MRI in BT workflows has been investigated over the last two decades. The fusion of preoperative MR-images during TRUS-brachytherapy is possible. However, the image registration process introduces a source of uncertainty. Manual, real-time intra-operative LDR-BT is challenging under MRI due to confined space and procedural workflows. This motivates the development of MRI-compatible robots for prostate BT, with potential advantages of improved source placement accuracy and final dosimetry. In this paper, the state-of-art of technological components in MRI compatible robots, especially for LDR-BT, has been presented. This systematic review helps us to position an ongoing Cooperative Brachytherapy project, developing a real-time MRI-guided robot for adaptive LDR-BT. The design approach includes integrating separate modules: imaging, dose planning, needles, and robot.

show abstract

Section: E Mri Based Robotic Developments For Prostate Interventionsmentioning

confidence: 99%

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Dhaliwal

Chettibi

Wilby

et al. 2021

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

show abstract

“…According to equation (18) that since the fourth term had a fourth-order partial derivative, it is necessary to establish a difference equation to solve it [39]. According to the finite difference discretization method, the number of nodes of the puncture needle is set to N, then the length of each node is h = L/N, the boundary condition of the model is: (19) Where, u0 and v0 are the initial positions of the needle, and uN and vN are the end positions of the needle; Meanwhile, ''', '''', and ''''' are the first, second, and third partial derivatives of u and v with respect to the X and Y directions, respectively.…”

Section: ) Euler Beam Modelmentioning

confidence: 99%

“…Then, according to the expanded form of Taylor's formula, after using the second-order central difference, the general difference form of each derivative in the X direction can be obtained. Meanwhile, according to the difference equation [40] and boundary conditions, it can be obtained as follows: (20) Meanwhile, the quality of each node can be expressed as m•h after difference, and according to equation (18), equation (19) and equation (20) the difference equation of the model is:…”

Section: ) Euler Beam Modelmentioning

confidence: 99%

“…With the continuous development of modern robotics technology, since the end of last century, robotics had been applied to clinical surgery for the first time, and a large number of scholars had been devoted to the research of medical robot [17]- [19]. Among them, minimally invasive surgical robot has the most promising development in the field of medical robots in the future.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Study on the Control Method and Optimization Experiment of Prostate Soft Tissue Puncture

Zhang

Liu

2020

IEEE Access

View full text Add to dashboard Cite

In the treatment of prostate cancer patients, surgery of radioactive seed implantation with the puncture robots is an effective treatment method. However, when the puncture needle enters the lesion tissue, there are complicated forces between the needle body and the soft tissue, which leads to the drift of the prostate and the deflection of the puncture needle, thereby affecting the puncture accuracy. In order to improve the positioning accuracy and ensure the best treatment effect, a sine rotation continuous puncture control method was proposed in this paper. First, by analyzing the interaction between the puncture needle and the soft tissue, the force balance equation and the deflection equation were established, according to the equations, it could be known that puncture friction is the main factor affecting the deflection of the puncture needle. Second, combined with the influence of puncture friction and the research on the theory of rotation puncture, the sine rotation puncture method was compared with the direct puncture method and the existing rotation puncture method; Observed with a 4D Color Doppler Ultrasound to verify the feasibility of the rotating puncture theory and the effectiveness of the sine rotation puncture method. Third, through the establishment of Euler Beam model, rotation angle analysis and puncture velocity test analysis, the influence of dynamic parameters of this method on the puncture accuracy was discussed, the optimization range of each factor was obtained; The experiment was designed by the quadratic regression orthogonal combination theory, the experiment process was observed and recorded by a 3D X-ray scanner, the regression equations were established between experiment factors and experiment indicators with the Design-Expert, and the best parameter combinations were acquired through optimization. Last, comparison tests and verification test were carried out to verify the rationality and reliability of the optimized sine rotation puncture control method.

show abstract

“…Recently, shape memory alloy (SMA) technology also has been adapted to develop robotic systems for MRI environment [47]. Chen et al [31] developed a 5 DOF robotic system using novel pneumatic motors. Each motor consist of a rotor with conical holes and multiple pistons with conical tip and one-third phase difference.…”

Section: Technologies For Mri Robots and Mri-guided Interventionsmentioning

confidence: 99%

MRI Robots for Needle-Based Interventions: Systems and Technology

2018

View full text Add to dashboard Cite

Magnetic resonance imaging (MRI) provides high-quality soft-tissue images of anatomical structures and radiation free imaging. The research community has focused on establishing new workflows, developing new technology, and creating robotic devices to change an MRI room from a solely diagnostic room to an interventional suite, where diagnosis and intervention can both be done in the same room. Closed bore MRI scanners provide limited access for interventional procedures using intraoperative imaging. MRI robots could improve access and procedure accuracy. Different research groups have focused on different technology aspects and anatomical structures. This paper presents the results of a systematic search of MRI robots for needle-based interventions. We report the most recent advances in the field, present relevant technologies, and discuss possible future advances. This survey shows that robotic-assisted MRI-guided prostate biopsy has received the most interest from the research community to date. Multiple successful clinical experiments have been reported in recent years that show great promise. However, in general the field of MRI robotic systems is still in the early stage. The continued development of these systems, along with partnerships with commercial vendors to bring this technology to market, is encouraged to create new and improved treatment opportunities for future patients.

show abstract

Design of a Dedicated Five Degree-of-Freedom Magnetic Resonance Imaging Compatible Robot for Image Guided Prostate Biopsy

Cited by 11 publications

References 13 publications

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Study on the Control Method and Optimization Experiment of Prostate Soft Tissue Puncture

MRI Robots for Needle-Based Interventions: Systems and Technology

Contact Info

Product

Resources

About