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In-bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation

Institution:
1Laboratory for Computational Sensing and Robotics (LCSR) at the Johns Hopkins University, Baltimore, MD, USA.
2Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.
3Surgical Navigation and Robotics Laboratory, Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
4Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
Publisher:
John Wiley & Sons, Ltd.
Publication Date:
Jun-2016
Journal:
Int J Med Robot
Volume Number:
12
Issue Number:
2
Pages:
199-213
Citation:
Int J Med Robot. 2016 Jun;12(2):199-213.
PubMed ID:
26111458
PMCID:
PMC4691445
Keywords:
MRI compatible, biopsy, calibration assessment, parallel manipulator, prostate transperineal intervention
Appears in Collections:
SNR, NA-MIC, NCIGT, Prostate Group
Sponsors:
P41 EB015898/EB/NIBIB NIH HHS/United States
R01 CA111288/CA/NCI NIH HHS/United States
Generated Citation:
Eslami S., Shang W., Li G., Patel N., Fischer G.S., Tokuda J., Hata N., Tempany C.M., Iordachita I. In-bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation. Int J Med Robot. 2016 Jun;12(2):199-213. PMID: 26111458. PMCID: PMC4691445.
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Robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of prostate cancer in humans. METHODS: This paper discusses the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of four sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in clinical trials. RESULTS: The manipulator has undergone several experiments to evaluate the repeatability and accuracy (about 1 mm in air (in x or y direction) at the needle's reference point) of needle placement, which is an essential concern in percutaneous prostate interventions. CONCLUSION: The acquired results endorse the sustainability, precision and reliability of the manipulator.

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Eslami-IJMR2015-fig15.jpg (140.61kB)