Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions

Abstract

Prostate cancer is one of the leading causes of death in men. Prostate interventions using magnetic resonance imaging (MRI) benefits from high tissue contrast if compared to other imaging modalities. The Minimally Invasive Robotics In An MRI environment (MIRIAM) robot is an MRI-compatible system able to steer different types of needles towards a point of interest using MRI guidance. However, clinicians can be reluctant to give the robot total control of the intervention. This work integrates a haptic device in the MIRIAM system to allow input from the clinician during the insertion. A shared control architecture is achieved by letting the clinician control the insertion depth via the haptic device, while the robotic system controls the needle orientation. The clinician receives haptic feedback based on the insertion depth and tissue characteristics. Four control laws relating the motion of the master robot (haptic device) to the motion of the slave robot (MIRIAM robot) are presented and evaluated. Quantitative and qualitative results from 20 human subjects demonstrate that the squared-velocity control law is the most suitable option for our application. Additionally, a pre-operative target localization algorithm is presented in order to provide the robot with the target location. The target localization and reconstruction algorithm are validated in phantom and patient images with an average dice similarity coefficient (DSC) of 0.78. The complete system is validated through experiments by inserting a needle towards a target within the MRI scanner. Four human subjects perform the experiment achieving an average targeting error of 3.4[Formula: see text]mm.

Image‐guided robots for low dose rate prostate brachytherapy: Perspectives on safety in design and use

“…(3) Urologists are exposed to radiation during the procedure. These problems can be resolved by using a master haptic device to control the puncture needle remotely 92,93 . In this process, the urologist controls the depth of needle insertion and the robot controls rotation of the needle.…”

“…These problems can be resolved by using a master haptic device to control the puncture needle remotely. 92,93 In this process, the urologist controls the depth of needle insertion and the robot controls rotation of the needle. Prostate motion and deformation during a puncture can reduce the accuracy of needle placement.…”

Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback

“…To reach the target, the operator needs to move the needle from x tip toward x P targ . The system conveys navigation information minimizing d n tip , i.e., since t d < d n,x tip < t u and t d < d n,z tip < t u , we use both times the middle term in (5). This leads to the activation of two motors in the armband, guiding the user to move the needle tip toward x P targ .…”

“…2) Cutting force rendering with vibrotactile feedback (C V ): We use the same step-like activation function described in (5). However, this time we are interested in providing information about the force variation along the insertion axis f z t (see Fig.…”

“…M OST robotic systems for flexible needle insertion still lack effective feedback capabilities [1]- [3]. In this respect, real-time visualization of the needle pose has been proven effective in increasing the clinician's performance in many of these scenarios [4], using, e.g., magnetic resonance imaging (MRI) [5], computed tomography (CT) [6], or ultrasound (US) [7]. Most teleoperated robotic systems for needle insertion use one of these imaging modalities to provide visual feedback on the needle during the insertion.…”