Design of a novel MRI compatible manipulator for image guided prostate interventions
Date
2005-02
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Source Title
IEEE Transactions on Biomedical Engineering
Print ISSN
0018-9294
Electronic ISSN
Publisher
IEEE
Volume
52
Issue
2
Pages
306 - 313
Language
English
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Abstract
This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.
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Keywords
Biomedical imaging , Cancer , Magnetic resonance imaging , Medical diagnosis , Medical treatment , Marker , Needle biopsy , Prostate tissues , Therapy delivery , Biological organs , Biopsy , Image analysis , Magnetic resonance imaging , Scanning , Three dimensional , Tissue , Manipulators , Animal experiment , Animal model , Article , Computer aided design , Device , Diagnostic accuracy , Diagnostic imaging , Dog , Male , Needle biopsy , Nonhuman , Nuclear magnetic resonance imaging , Prostate cancer , Three dimensional imaging , Animals , Biopsy, Needle , Dogs , Equipment Design , Equipment Failure Analysis , Feasibility Studies , Imaging, Three-Dimensional , Magnetic Resonance Imaging , Male , Micromanipulation , Prostate , Reproducibility of Results , Robotics , Sensitivity and Specificity , Surgery, Computer-Assisted