Design of a novel MRI compatible manipulator for image guided prostate interventions

• Published in: IEEE transactions on biomedical engineering Vol. 52; no. 2; pp. 306 - 313
• Main Authors: Krieger, A., Susil, R.C., Menard, C., Coleman, J.A., Fichtinger, G., Atalar, E., Whitcomb, L.L.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01-02-2005; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Animals; Biomedical imaging; Biopsy; Biopsy, Needle - instrumentation; Biopsy, Needle - methods; cancer; Clinical trials; Devices; Dogs; Equipment Design; Equipment Failure Analysis; Feasibility Studies; Imaging, Three-Dimensional - instrumentation; Imaging, Three-Dimensional - methods; In vivo; Magnetic resonance imaging; Magnetic Resonance Imaging - instrumentation; Magnetic Resonance Imaging - methods; Male; Manipulators; Mechanical engineering; medical diagnosis; Medical treatment; Micromanipulation - instrumentation; Micromanipulation - methods; Needles; Oncology; Placement; Prostate; Prostate - pathology; Prostate - surgery; Prostate cancer; Radiology; Reproducibility of Results; Robot arms; Robotics - instrumentation; Robotics - methods; Sensitivity and Specificity; Surgery, Computer-Assisted - instrumentation; Surgery, Computer-Assisted - methods
• ISSN: 0018-9294; 1558-2531
• DOI: 10.1109/TBME.2004.840497

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.