MRI of the prostate: potential role of robots

Fütterer, Jurgen J.; Misra, Sarthak; Macura, Katarzyna J.

doi:10.2217/iim.10.46

Cited by 16 publications

(7 citation statements)

References 71 publications

(68 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The MRI is also able to perform multiparametric scans including flow diffusion, real-time temperature mapping, and oxygenation measurements. However, the confined space of the MRI bore, strong magnetic fields and susceptibility to electrical noise pose challenges, ones that can be addressed by the use of MRI compatible robots [6].…”

Section: Introductionmentioning

confidence: 99%

Demonstration and Experimental Validation of Plastic-Encased Resonant Ultrasonic Piezoelectric Actuator for Magnetic Resonance Imaging-Guided Surgical Robots

Carvalho

Nycz

Gandomi

et al. 2019

Journal of Engineering and Science in Medical Diagnostics and Therapy

View full text Add to dashboard Cite

Intra-operative medical imaging based on magnetic resonance imaging (MRI) coupled with robotic manipulation of surgical instruments enables precise feedback-driven procedures. Electrically powered nonferromagnetic motors based on piezoelectric elements have shown to be well suited for MRI robots. However, even avoiding ferrous materials, the high metal content on commercially available motors still cause distortions to the magnetic fields. We construct semicustom piezoelectric actuators wherein the quantity of conductive material is minimized and demonstrate that the distortion issues can be partly addressed through substituting several of these components for plastic equivalents, while maintaining motor functionality. Distortion was measured by assessing the root-mean-squared (RMS) change in position of 49 centroid points in a 12.5 mm square grid of a gelatin-filled phantom. The metal motor caused a distortion of up to 4.91 mm versus 0.55 mm for the plastic motor. An additional signal-to-noise-ratio (SNR) drop between motor off and motor spinning of approximately 20% was not statistically different for metal versus plastic (p = 0.36).

show abstract

Section: Introductionmentioning

confidence: 99%

Demonstration and Experimental Validation of Plastic-Encased Resonant Ultrasonic Piezoelectric Actuator for Magnetic Resonance Imaging-Guided Surgical Robots

Carvalho

Nycz

Gandomi

et al. 2019

Journal of Engineering and Science in Medical Diagnostics and Therapy

View full text Add to dashboard Cite

show abstract

“…The MRI is also able to perform multiparametric scans including flow diffusion, real time temperature mapping and oxygenation measurements. However, the confined space of the MRI bore, strong magnetic fields and susceptibility to electrical noise pose challenges, ones that can be addressed by the use of MRI compatible robots [5].…”

Section: Introductionmentioning

confidence: 99%

Demonstration and Experimental Validation of Plastic-Encased Resonant Ultrasonic Piezoelectric Actuator for MRI-Guided Surgical Robots

Carvalho

Nycz

Gandomi

et al. 2018

Volume 3: Biomedical and Biotechnology Engineering

View full text Add to dashboard Cite

Intra-operative medical imaging based on magnetic resonance imaging (MRI) coupled with robotic manipulation of surgical instruments enables precise feedback-driven procedures. Electrically powered non-ferromagnetic motors based on piezoelectric elements have shown to be well suited for MRI robots. However, even avoiding ferrous materials, the high metal content on commercially available motors still cause distortions to the magnetic fields. We construct semi-custom piezoelectric actuators wherein the quantity of conductive material is minimized and demonstrate that the distortion issues can be partly addressed through substituting several of these components for plastic equivalents, while maintaining motor functionality. Distortion was measured by assessing the RMS change in position of 49 centroid points in a 12.5mm square grid of a gelatin-filled phantom. The metal motor caused a distortion of up to 4.91mm versus 0.55mm for the plastic motor. An additional SNR drop between motor off and motor spinning of approximately 20% was not statistically different for metal versus plastic (p=0.36).

show abstract

“…A primary contribution of this paper is “minimizing” the image artifact caused by standard motor drivers and enable high-performance motion control through development of a custom control system, and leveraging the advantages of these actuators through design of a piezoelectrically-actuated robot. A historical review of MRI-guided robotics and the challenges related to piezoelectric actuation can be found in [13], [20], and [21]. …”

Section: Introductionmentioning

confidence: 99%

Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

Shang

Cole

et al. 2015

IEEE/ASME Trans. Mechatron.

109

View full text Add to dashboard Cite

This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-Tesla MRI scanner using standard imaging sequences and the signal-to-noise ratio (SNR) loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87 mm root mean square (RMS) error in 3D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure.

show abstract

MRI of the prostate: potential role of robots

Cited by 16 publications

References 71 publications

Demonstration and Experimental Validation of Plastic-Encased Resonant Ultrasonic Piezoelectric Actuator for Magnetic Resonance Imaging-Guided Surgical Robots

Demonstration and Experimental Validation of Plastic-Encased Resonant Ultrasonic Piezoelectric Actuator for Magnetic Resonance Imaging-Guided Surgical Robots

Demonstration and Experimental Validation of Plastic-Encased Resonant Ultrasonic Piezoelectric Actuator for MRI-Guided Surgical Robots

Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

Contact Info

Product

Resources

About