Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions.

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2010-09-26 DOI:10.1109/BIOROB.2010.5626987

Sang-Eun Song, Nathan Cho, Junichi Tokuda, Nobuhiko Hata, Clare Tempany, Gabor Fichtinger, Iulian Iordachita

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引用次数: 14

Abstract

Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.

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用于mri引导前列腺干预的mri兼容模块化机器人系统的初步评估。

磁共振成像(MRI)引导的机器人干预已被引入，以推进前列腺癌的检测和治疗。为了克服这种机器人干预的问题，我们一直在开发一种气动驱动的mri兼容模块化机器人系统，用于mri引导的经会阴前列腺干预及其介入程序。为了对系统进行评估，我们进行了一系列的实验，本文报道了一个使用前列腺假体和患者模型的针刺实验。针刺实验在一个方向上产生了明显的一致性误差，我们将进一步研究。尽管如此，患者的模型经验表明，模块化机器人系统及其介入程序可以很好地集成并在临床环境中实施。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics

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