Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

Purpose: A novel grid-template-mimicking MR-compatible robot was developed for in-gantry MRI-guided focal laser ablation of prostate cancer. Method: A substantially compact robot was designed and prototyped to meet in-gantry lithotomy ergonomics and allow for accommodation in the perineum. The controller software was reconfigured and integrated with the custom-designed navigation and multi-focal ablation software. Three experiments were conducted: (1) free space accuracy test; (2) phantom study under computed tomography (CT) guidance for image-guided accuracy test and overall workflow; and (3) magnetic resonance imaging (MRI)-guided focal laser ablation of an ex vivo prostate. The free space accuracy study included five targets that were selected across the workspace. The robot was then commanded five times to each target. The phantom study used a gel phantom made with color changing thermos-chromic ink, and four spherical metal fiducials were deployed with the robot. Then, laser ablation was applied, and the phantom was sliced for gross observation. For an MR-guided ex vivo test, a prostate from a donor who died of prostate cancer was obtained and multi-focally ablated using the system within the MRI gantry. The tissue was sliced after ablation for validation. Results: free-space accuracy was 0.38 ± 0.27 mm. The overall system targeting accuracy under CT guidance (including robot, registration, and insertion error) was 2.17 ± 0.47 mm. The planned ablation zone was successfully covered in both acrylamide gel phantom and in human prostate tissue. Conclusions: The new robot can accurately facilitate fiber targeting for MR-guided focal laser ablation of targetable prostate cancer.

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Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies

Frontiers in Robotics and AI ◽

10.3389/frobt.2021.667121 ◽

2021 ◽

Vol 8 ◽

Author(s):

Niravkumar Patel ◽

Jiawen Yan ◽

Gang Li ◽

Reza Monfaredi ◽

Lukasz Priba ◽

...

Keyword(s):

Shoulder Joint ◽

Joint Space ◽

Needle Insertion ◽

Cadaver Study ◽

Single Step ◽

Robotic System ◽

Clinical Workflow ◽

Shoulder Arthrography ◽

Mr Conditional ◽

Mri Guided

This paper presents an intraoperative MRI-guided, patient-mounted robotic system for shoulder arthrography procedures in pediatric patients. The robot is designed to be compact and lightweight and is constructed with nonmagnetic materials for MRI safety. Our goal is to transform the current two-step arthrography procedure (CT/x-ray-guided needle insertion followed by diagnostic MRI) into a streamlined single-step ionizing radiation-free procedure under MRI guidance. The MR-conditional robot was evaluated in a Thiel embalmed cadaver study and healthy volunteer studies. The robot was attached to the shoulder using straps and ten locations in the shoulder joint space were selected as targets. For the first target, contrast agent (saline) was injected to complete the clinical workflow. After each targeting attempt, a confirmation scan was acquired to analyze the needle placement accuracy. During the volunteer studies, a more comfortable and ergonomic shoulder brace was used, and the complete clinical workflow was followed to measure the total procedure time. In the cadaver study, the needle was successfully placed in the shoulder joint space in all the targeting attempts with translational and rotational accuracy of 2.07 ± 1.22 mm and 1.46 ± 1.06 degrees, respectively. The total time for the entire procedure was 94 min and the average time for each targeting attempt was 20 min in the cadaver study, while the average time for the entire workflow for the volunteer studies was 36 min. No image quality degradation due to the presence of the robot was detected. This Thiel-embalmed cadaver study along with the clinical workflow studies on human volunteers demonstrated the feasibility of using an MR-conditional, patient-mounted robotic system for MRI-guided shoulder arthrography procedure. Future work will be focused on moving the technology to clinical practice.

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System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy

Journal of Medical Robotics Research ◽

10.1142/s2424905x19500016 ◽

2019 ◽

Vol 04 (02) ◽

pp. 1950001 ◽

Cited By ~ 8

Author(s):

Niravkumar A. Patel ◽

Gang Li ◽

Weijian Shang ◽

Marek Wartenberg ◽

Tamas Heffter ◽

...

Keyword(s):

Clinical Study ◽

Prostate Biopsy ◽

Modular Design ◽

Surgical Navigation ◽

Robotic System ◽

Clinical Workflow ◽

Preclinical Evaluation ◽

Transperineal Prostate Biopsy ◽

Patient Consent ◽

Mri Guided

This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5[Formula: see text]mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0[Formula: see text]mm and 3.7[Formula: see text]mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system’s effectiveness and accuracy for MR image-guided prostate biopsy are underway.

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844: MRI Guided Prostate Biopsy with Biological Image Acquisition and Targeting in a Standard 1.5T Scanner

The Journal of Urology ◽

10.1016/s0022-5347(18)38093-5 ◽

2004 ◽

Vol 171 (4S) ◽

pp. 223-223

Author(s):

Jonathan A. Coleman ◽

Robert C. Susil ◽

Axel Krieger ◽

Peter L. Choyke ◽

Betty Wise ◽

...

Keyword(s):

Prostate Biopsy ◽

Image Acquisition ◽

Mri Guided ◽

Biological Image

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Re: Prospective Randomized Trial Comparing Magnetic Resonance Imaging (MRI)-Guided In-Bore Biopsy to MRI-Ultrasound Fusion and Transrectal Ultrasound-Guided Prostate Biopsy in Patients with Prior Negative Biopsies

The Journal of Urology ◽

10.1016/j.juro.2016.01.054 ◽

2016 ◽

Vol 195 (4 Part 1) ◽

pp. 927-928

Author(s):

Samir S. Taneja

Keyword(s):

Magnetic Resonance Imaging ◽

Magnetic Resonance ◽

Randomized Trial ◽

Prostate Biopsy ◽

Transrectal Ultrasound ◽

Resonance Imaging ◽

Ultrasound Guided ◽

Mri Guided ◽

Magnetic Resonance Imaging Mri ◽

Negative Biopsies

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Development of a Master-Slave Robotic System for MRI-Guided Intracardiac Interventions

Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems ◽

10.1115/dscc2013-3936 ◽

2013 ◽

Cited By ~ 1

Author(s):

Amirhossein Salimi ◽

Amin Ramezanifar ◽

Javad Mohammadpour ◽

Karolos M. Grogoriadis

Keyword(s):

Magnetic Resonance Imaging ◽

Pid Control ◽

Control Design ◽

Robotic System ◽

Experimental Setup ◽

Resonance Imaging ◽

Parallel Platform ◽

Mri Guided ◽

Magnetic Resonance Imaging Mri ◽

Reference Trajectories

Restricted space inside the magnetic resonance imaging (MRI) scanner bore prevents surgeons to directly interact with the patient during MRI-guided procedures. This motivates the development of a robotic system that can act as an interface during those interventions. In this paper, we present a master-slave robotic system as a solution to the aforedescribed issue. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATH) designed to serve as the slave mechanism inside the scanner bore. We present in this paper the design principles for the platform, as well as the PID control design for the system. We use our experimental setup to evaluate the performance of the system by examining the effectiveness of the slave platform in tracking the reference trajectories generated by the master robot.

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