Design of a novel MRI compatible manipulator for image guided prostate interventions

Axel Krieger, Robert C. Susil, Cynthia Ménard, Jonathan A. Coleman, Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb

Research output: Contribution to journalArticlepeer-review

235 Scopus citations


This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.

Original languageEnglish (US)
Pages (from-to)306-313
Number of pages8
JournalIEEE Transactions on Biomedical Engineering
Issue number2
StatePublished - Feb 2005


  • Biomedical imaging
  • Cancer
  • Magnetic resonance imaging
  • Medical diagnosis
  • Medical treatment

ASJC Scopus subject areas

  • Biomedical Engineering


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