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Robot-assisted MRI-guided prostatic interventions

Published online by Cambridge University Press:  07 December 2009

Andrew A. Goldenberg ,
John Trachtenberg ,
Yang Yi ,
Robert Weersink ,
Marshall S. Sussman ,
Masoom Haider ,
Liang Ma  and
Walter Kucharczyk
Andrew A. Goldenberg*
Affiliation:
Engineering Services Inc., Toronto, ON, Canada Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON, Canada
John Trachtenberg
Affiliation:
Prostate Center, Princess Margaret Hospital, University Health Network, Toronto, ON, Canada Department of Surgery, University of Toronto, Toronto, ON, Canada
Yang Yi
Affiliation:
Engineering Services Inc., Toronto, ON, Canada
Robert Weersink
Affiliation:
Biomedical Imaging, Princess Margaret Hospital, University Research Network, Toronto, ON, Canada
Marshall S. Sussman
Affiliation:
Medical Imaging, Toronto General Hospital, University Health Network, Toronto, ON, Canada
Masoom Haider
Affiliation:
Radiology, Princess Margaret Hospital, University Health Network, Toronto, ON, Canada Department of Medical Imaging, University of Toronto, Toronto, ON, Canada
Liang Ma
Affiliation:
Engineering Services Inc., Toronto, ON, Canada
Walter Kucharczyk
Affiliation:
Radiology, Toronto General Hospital, University Health Network, Toronto, ON, Canada Department of Medical Imaging, University of Toronto, Toronto, ON, Canada
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper reports on recent progress made toward the development of a new magnetic resonance imaging (MRI)-compatible robot-assisted surgical system for closed-bore image-guided prostatic interventions: thermal ablation, radioactive seed implants (brachytherapy), and biopsy. Each type of intervention will be performed with a different image-guided, robot-based surgical tool mounted on the same MRI-guided robot through a modular trocar. The first stage of this development addresses only laser-based focal ablation. The robot mechanical structure, modular surgical trocar, control architecture, and current stage of performance evaluation in the MRI environment are presented. The robot actuators are ultrasonic motors. A methodology of using such motors in the MRI environment is presented. The robot prototype with surgical ablation tool is undergoing tests on phantoms in the MRI bore. The tests cover MRI compatibility, image visualization, robot accuracy, and thermal mapping. To date, (i) the images are artifact- and noise-free for certain scanning pulse sequences; (ii) the robot tip positioning error is less than 1.2 mm even at positions closer than 0.3 m from the MRI isocenter; (iii) penetration toward the target is image-monitored in near-real time; and (iv) thermal ablation and temperature mapping are achieved using a laser delivered on an optical fiber and MRI, respectively.

Keywords

magnetic resonance imaging (MRI)MRI-guided robotRobot-assisted surgeryProstatic interventionsUltrasonic motorsModular surgical toolMRI compatibilityThermal mapping
Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010 , pp. 215 - 234
Copyright
Copyright © Cambridge University Press 2009

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