The Feasibility of MR-Image Guided Prostate Biopsy Using Piezoceramic Motors Inside or Near to the Magnet Isocentre

Elhawary, Haytham; Zivanovic, Aleksandar; Rea, Marc; Davies, Brian; Besant, C.B.; McRobbie, Donald W.; Souza, Nandita de; Young, I. R.; Lampérth, Michael

doi:10.1007/11866565_64

Cited by 38 publications

(44 citation statements)

References 8 publications

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“…Suzuki et al describes ultrasonic motor drive techniques that enhance MR compatibility in [13]. The feasibility of using piezoceramic motors for robotic prostate biopsy is described in [14].…”

Section: Al Developed a General-purpose Robotic Assistantmentioning

confidence: 99%

MRI Compatibility of Robot Actuation Techniques – A Comparative Study

Fischer

Krieger

Iordachita

et al. 2008

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008

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Abstract. This paper reports an experimental evaluation of the following three different MRI-compatible actuators: a Shinsei ultrasonic motor, a Nanomotion ultrasonic motor and a pneumatic cylinder actuator. We report the results of a study comparing the effect of these actuators on the signal to noise ratio (SNR) of MRI images under a variety of experimental conditions. Evaluation was performed with the controller inside and outside the scanner room and with both 1.5T and 3T MRI scanners. Pneumatic cylinders function with no loss of SNR with controller both inside and outside of the scanner room. The Nanomotion motor performs with moderate loss of SNR when moving during imaging. The Shinsei is unsuitable for motion during imaging. All may be used when motion is appropriately interleaved with imaging cycles.

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Section: Al Developed a General-purpose Robotic Assistantmentioning

confidence: 99%

MRI Compatibility of Robot Actuation Techniques – A Comparative Study

Fischer

Krieger

Iordachita

et al. 2008

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008

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“…As an additional test of the performance of the device under expected maximum loads, a digital scale 6 was fixed at the slave end and a force-torque sensor 5 and handle at the master (Fig. 11).…”

Section: Dynamic Behavior Evaluationmentioning

confidence: 99%

“…A fundamental limit to needle guides is that they do not permit active needle manipulation during scanning. At the other end of the spectrum, robotic solutions can be expensive, in part due to the challenges of working with MRI-compatible materials, including actuators and sensors that are nonmagnetic and do not produce RF interference [6]. Robotic and fully teleoperated systems are further complicated by requiring complex sensors and methods for closed-loop control.…”

Section: Introductionmentioning

confidence: 99%

A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions

Elayaperumal

Cutkosky

Renaud

et al. 2015

Journal of Medical Devices

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A passive, parallel master-slave mechanism is presented for magnetic resonance imaging (MRI)-guided interventions in the pelvis. The mechanism allows a physician to stand outside the MRI scanner while manipulating a needle inside the bore and, unlike a powered robot, does not place actuators in proximity to the patient. The manipulator combines two parallel mechanisms based on the Delta robot architecture. The mechanism also includes a two-axis gimbal to allow for tool angulation, giving a total of five degrees of freedom so that the physician can insert and steer a needle using continuous natural arm and wrist movements, unlike simple needle guides. The need for access between the patient's legs and within the MRI scanner leads to an unusual asymmetric design in which the sliding prismatic joints form the vertices of an isosceles triangle. Kinematic analysis shows that the dexterity index of this design is improved over the desired workspace, as compared to an equilateral design. The analysis is extended to estimate the effect of friction and model the input:output force transmission. Prototypes, with final dimensions selected for transperineal prostate interventions, showed force transmission behavior as predicted by simulation, and easily withstood maximum forces required for tool insertion.

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“…Therefore, it is necessary to: 1) use actuators that are compatible with the MR environment, or 2) to use a transmission to mechanically couple the manipulator in close proximity to the scanner to standard actuators situated outside the high field. MR compatible actuators such as piezoceramic motors have been evaluated in [16,24,25]; however, these are prone to introducing noise into MR imaging and therefore negatively impacting image quality. The latter can take the form of flexible driveshafts [18], push-pull cables, or hydraulic (or pneumatic) couplings [23].…”

Section: Actuator Designmentioning

confidence: 99%

“…Other recent developments in MRI-compatible mechanisms include pneumatic stepping motors on a light needle puncture robot [22] and haptic interfaces for fMRI [23]. Ultrasonic Motor drive techniques that enhance MR compatibility are described by Suzuki et al in [24], and the feasibility of using piezoceramic motors for robotic prostate biopsy is presented in [25]. Stoianovici et al have taken their developments in MR-compatible pneumatic stepper motors and applied them to robotic brachytherapy seed placement [26].…”

Section: Introductionmentioning

confidence: 99%

San Antonio Creek Restoration, Vandenberg Air Force Base, California

BALTIMORE¹

2008

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing this collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports (0704-0188), 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. REPORT DATE 14-02-2008 REPORT TYPE Annual Summary DATES COVERED15 PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION REPORT NUMBERJohns Hopkins University Baltimore, MD 21218 SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) U.S. Army Medical Research and Materiel Command Fort Detrick, Maryland 21702-5012 SPONSOR/MONITOR'S REPORT NUMBER(S) DISTRIBUTION / AVAILABILITY STATEMENTApproved for Public Release; Distribution Unlimited SUPPLEMENTARY NOTES ABSTRACTMRI possess many of the capabilities that TRUS is lacking for prostate brachytherapy and biopsy, with high sensitivity for detecting prostate tumors, high spatial resolution, excellent soft tissue contrast, and volumetric imaging capabilities. However, closed-bore high-field MRI has not been widely adopted for prostate interventions because strong magnetic fields and confined physical space present formidable challenges. This work enables prostate brachytherapy and biopsy procedures in standard high-field diagnostic MRI scanners through the development of a robotic needle placement device specifically designed for trans-perineal access to the prostate under real-time MR image guidance. Specifically, the requirements are defined, the system designed and constructed, the controller developed, and the full system evaluated in phantom models. References……………………………………………………………………………. 10 SUBJECT TERMS Appendices…………………………………………………………………………… 11Page 1 of 68 Progress Report Summary Project Year 1 (2007) A. INTRODUCTIONMagnetic Resonance Imaging (MRI) is an excellent imaging modality for many conditions, but to date there has been limited success in harnessing this modality for the guidance of interventional procedures. MRI is an ideal interventional guidance modality: it provides near real-time high-resolution images at arbitrary orientations and is able to monitor therapeutic agents, surgical tools, biomechanical tissue properties, and physiological function. At the same time, MRI poses formidable engineering challenges by severely limited access to the patient and high magnetic field that prevents the use of ...

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The Feasibility of MR-Image Guided Prostate Biopsy Using Piezoceramic Motors Inside or Near to the Magnet Isocentre

Cited by 38 publications

References 8 publications

MRI Compatibility of Robot Actuation Techniques – A Comparative Study

MRI Compatibility of Robot Actuation Techniques – A Comparative Study

A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions

San Antonio Creek Restoration, Vandenberg Air Force Base, California

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