Robotic Assistant for Transperineal Prostate Interventions in 3T Closed MRI 1st Edition by Gregory S Fischer, Simon P DiMaio, Iulian I Iordachita, Gabor Fichtinger ISBN 9783540757573
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Authors:Gregory S. Fischer, Simon P. DiMaio, Iulian I. Iordachita; Gabor Fichtinger , Tags:Medical Image Computing and Computer-Assisted Intervention – MICCAI 2007 , Author sort:Gregory S. Fischer, Simon P. DiMaio, Iulian I. Iordachita & Fichtinger, Gabor , Languages:Languages:eng , Comments:Comments:Medical Image Computing and Computer-Assisted Intervention – MICCAI 2007
Robotic Assistant for Transperineal Prostate Interventions in 3T Closed MRI 1st Edition by Gregory S Fischer, Simon P DiMaio, Iulian I Iordachita, Gabor Fichtinger – Ebook PDF Instant Download/Delivery. 9783540757573
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ISBN 13: 9783540757573
Author: Gregory S Fischer, Simon P DiMaio, Iulian I Iordachita, Gabor Fichtinger
Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of prostate cancer. The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection and tissue deformation. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring such interventions due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. We have designed a comprehensive robotic assistant system that allows prostate biopsy and brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner. We present a detailed design of the robotic manipulator and an evaluation of its usability and MR compatibility.
Robotic Assistant for Transperineal Prostate Interventions in 3T Closed MRI 1st Table of contents:
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Introduction
1.1 Motivation and Background
1.2 Overview of Prostate Interventions: Transperineal Approach
1.3 Challenges of Performing Interventions in a 3T Closed MRI Environment
1.4 Robotic Assistance in Minimizing Procedure Risks and Improving Precision
1.5 Objectives and Contributions of the Paper
1.6 Structure of the Paper -
Related Work
2.1 Robotic Systems for MRI-Guided Interventions
2.2 Transperineal Prostate Biopsy and Ablation Techniques
2.3 Integration of Robotics and MRI in Medical Procedures
2.4 Challenges in Robotic Assistance for Closed MRI
2.5 Existing Solutions for MRI-Guided Prostate Interventions -
System Design
3.1 Overview of the Robotic Assistant for Prostate Interventions
3.2 Mechanical and Kinematic Design Considerations
3.3 Integration with 3T Closed MRI System
3.4 Safety Features and Compliance with MRI Environment
3.5 Robotic End-Effector and Needle Manipulation
3.6 Control Systems and User Interface for the Robotic Assistant -
Methodology
4.1 MRI-Guided Transperineal Prostate Intervention Procedure
4.2 Navigation and Localization Techniques in 3T MRI
4.3 Calibration of the Robotic System in the MRI Environment
4.4 Image Registration for Precise Needle Placement
4.5 Real-Time Monitoring and Feedback Mechanisms
4.6 Integration of Patient-Specific Prostate Models in Navigation -
Experimental Setup and Validation
5.1 Description of Experimental Setup and Protocols
5.2 Validation of the Robotic Assistant Using Phantom Models
5.3 Accuracy and Precision of Needle Placement: Comparison with Manual Procedures
5.4 Evaluation of Robotic Assistant Performance in Real Prostate Cases
5.5 Clinical Evaluation: Feedback from Surgeons and Technicians
5.6 Safety Considerations and Risk Assessment -
Results
6.1 Robotic System Performance: Tracking and Targeting Accuracy
6.2 MRI Imaging Quality During Robotic Assistance
6.3 Comparison of Robotic-Assisted Interventions with Traditional Methods
6.4 Procedure Duration and Operator Efficiency
6.5 Clinical Case Studies and Results
6.6 Sensitivity to Prostate Tissue Variability and Patient Positioning -
Discussion
7.1 Insights from the Robotic-Assisted Prostate Intervention System
7.2 Advantages of Robotic Assistance in Minimizing Human Error
7.3 Limitations and Challenges in the 3T Closed MRI Environment
7.4 Scalability of the System to Other Interventional Procedures
7.5 Future Directions: Enhancing System Autonomy and Real-Time Adaptation -
Clinical Applications
8.1 Role of Robotic Assistance in Prostate Biopsy
8.2 Applications in Prostate Cancer Diagnosis and Treatment Planning
8.3 Integration with Other MRI-Guided Ablation Therapies
8.4 Long-Term Impact on Patient Outcomes and Procedure Success Rates
8.5 Potential for Expanding Robotic Assistance to Other Areas of Medicine -
Conclusion
9.1 Summary of Key Findings
9.2 Contributions to MRI-Guided Robotic-Assisted Surgery
9.3 Potential for Future Developments in MRI Robotics
9.4 Closing Remarks
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