An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention

Axel Krieger, Iulian I. Iordachita, Peter Guion, Anurag K. Singh, Aradhana Kaushal, Cynthia Ménard, Peter A. Pinto, Kevin Camphausen, Gabor Fichtinger, Louis L. Whitcomb

Research output: Contribution to journalArticlepeer-review

63 Scopus citations


This paper reports the development, evaluation, and first clinical trials of the access to the prostate tissue (APT) II systema scanner independent system for magnetic resonance imaging (MRI)-guided transrectal prostate interventions. The system utilizes novel manipulator mechanics employing a steerable needle channel and a novel six degree-of-freedom hybrid tracking method, comprising passive fiducial tracking for initial registration and subsequent incremental motion measurements. Targeting accuracy of the system in prostate phantom experiments and two clinical human-subject procedures is shown to compare favorably with existing systems using passive and active tracking methods. The portable design of the APT II system, using only standard MRI image sequences and minimal custom scanner interfacing, allows the system to be easily used on different MRI scanners.

Original languageEnglish (US)
Article number5740584
Pages (from-to)3049-3060
Number of pages12
JournalIEEE Transactions on Biomedical Engineering
Issue number11
StatePublished - Nov 2011
Externally publishedYes


  • Image-guided intervention
  • MRI
  • prostate cancer
  • robot manipulators

ASJC Scopus subject areas

  • Biomedical Engineering


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