Robotic Prostate Biopsy in Closed MRI Scanner; Annual summary rept. 15 Jan 2007-14 Jan 2008

摘要

MRI possess many of the capabilities that TRUS is lacking for prostate brachytherapy and biopsy, with high sensitivity for detecting prostate tumors, high spatial resolution, excellent soft tissue contrast, and volumetric imaging capabilities. However, closed-bore high-field MRI has not been widely adopted for prostate interventions because strong magnetic fields and confined physical space present formidable challenges. This work enables prostate brachytherapy and biopsy procedures in standard high-field diagnostic MRI scanners through the development of a robotic needle placement device specifically designed for trans-perineal access to the prostate under real-time MR image guidance. Specifically, the requirements are defined, the system designed and constructed, the controller developed, and the full system evaluated in phantom models.