Robotic Prostate Biopsy in Closed MRI Scanner

摘要

MRI is an ideal interventional guidance modality: it provides near real-time high-resolution images at arbitrary orientations and is able to monitor therapeutic agents, surgical tools, biomechanical tissue properties, and physiological function. Yet, there is currently no technological solution exists to assist MRI guided prostate interventions in an accurate, simple, and economical manner. The objective was to make conventional diagnostic closed high-field MRI scanners available for guiding prostatic needle placement interventions through the use of a remotely actuated robotic needle placement system in standard closed high-field magnets, optimized for transperineal prostate biopsy. In achieving this goal, we have designed a robotic system, constructed the prototype robot and controller, integrated it into a complete system for image-guided surgery, and performed initial validation studies.