Abstract
This work describes an integrated system for planning and performing percutaneous procedures - such as prostate biopsy - with robotic assistance under MRI-guidance. The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's MR images. All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template. Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide. Results from in-scanner phantom experiments are provided.
Original language | English (US) |
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Title of host publication | Studies in Health Technology and Informatics |
Pages | 126-131 |
Number of pages | 6 |
Volume | 119 |
State | Published - 2006 |
Event | Medicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006 - Long Beach, CA, United States Duration: Jan 24 2006 → Jan 27 2006 |
Other
Other | Medicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006 |
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Country/Territory | United States |
City | Long Beach, CA |
Period | 1/24/06 → 1/27/06 |
Keywords
- MR-compatible robot
- Prostate cancer
- Robot-assisted needle biopsy
ASJC Scopus subject areas
- Biomedical Engineering
- Health Informatics
- Health Information Management