Automatic brachytherapy seed placement under MRI guidance

Alexandru Patriciu, Doru Petrisor, Michael Muntener, Dumitru Mazilu, Michael Schär, Dan Stoianovici

Research output: Contribution to journalArticlepeer-review

77 Scopus citations


The paper presents a robotic method of performing low dose rate prostate brachytherapy under magnetic resonance imaging (MRI) guidance. The design and operation of a fully automated MR compatible seed injector is presented. This is used with the MrBot robot for transperineal percutaneous prostate access. A new image-registration marker and algorithms are also presented. The system is integrated and tested with a 3T MRI scanner. Tests compare three different registration methods, assess the precision of performing automated seed deployment, and use the seeds to assess the accuracy of needle targeting under image guidance. Under the ideal conditions of the in vitro experiments, results show outstanding image-guided needle and seed placement accuracy.

Original languageEnglish (US)
Pages (from-to)1499-1506
Number of pages8
JournalIEEE Transactions on Biomedical Engineering
Issue number8
StatePublished - Aug 2007


  • Brachytherapy
  • IGI
  • Image-guided robot
  • MR Compatible

ASJC Scopus subject areas

  • Biomedical Engineering


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