Development of an MRI-Compatible Device for Prostate Focal Therapy

Abstract

We present a device that has been developed for delivering prostate focal thermal therapy under magnetic resonance imaging (MRI) guidance. Unlike most existing devices, ours is capable of delivering needles to targets in the prostate without removing the patient from the scanner. This feature greatly reduces procedure time and increases accuracy. The device consists of a mechanical linkage encoded with optical incremental encoders, and is manually actuated. A custom magnetic resonance (MR) compatible alignment interface allows the user to manually align the device to its target with high accuracy inbore in very short time. The use of manual actuation over motors greatly reduces the complexity and bulk of the system, making it much more compact and portable. This is important when dealing with such tight space constraints. Needle targeting experiments in gel phantoms have demonstrated the device's ability to deliver needles with an accuracy of 2.1 +/-1.3 mm.

A system for MRI‐guided transperineal delivery of needles to the prostate for focal therapy

“…Preliminary results from this work have been previously described in a conference paper. 35 In this previous publication, the trajectory alignment device was briefly described and only one simple test of needle guidance accuracy was performed. This paper includes rigorous testing of needle guidance accuracy and repeatability using a more realistic prostate phantom, demonstration of a user interface that is integrated with the MRI scanner and trajectory alignment device, and results from initial experiences using the system to deliver focal laser ablation therapy to two patients.…”

In-bore MRI interventions

“…Much of this increased time is from repeatedly moving the patient out of the scanner to enable access to the needle, followed by repeat imaging. Some investigators have therefore looked at MR compatible robotic devices via rectal [32], gluteal [33] and perineal approaches [ 35,36] recently described an MR compatible mechatronic system for transperineal needle guidance ( Fig. 1).…”

Sensors, Actuators, and Robots for Mri-Guided Surgery and Interventions

“…Cepek et al 59 at Robarts Research Institute presented a device for delivering prostate focal thermal therapy under MRI guidance shown in Fig. 14(a).…”