ICRA 2011 Paper Abstract


Paper ThA113.5

Song, Sang-Eun (The Johns Hopkins University), Cho, Nathan Bongjoon (Johns Hopkins University), Iordachita, Iulian (Johns Hopkins University), Guion, Peter (National Institutes of Health), Fichtinger, Gabor (Queen's University), Whitcomb, Louis (The Johns Hopkins University)

A Study of Needle Image Artifact Localization in Confirmation Imaging of MRI-Guided Robotic Prostate Biopsy

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems V" (ThA113), Thursday, May 12, 2011, 09:20−09:35, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 22, 2019

Keywords Medical Robots and Systems, Localization


Recently several systems for magnetic resonance image (MRI) guided needle placement in the prostate have been reported. In comparison to conventional ultrasound-guided needle placement in the prostate, these MRI-guided systems promise improved targeting accuracy for prostate intervention procedures including biopsy, fiducial marker insertion, injection and focal therapy. In MRI-guided needle interventions, after a needle is inserted, the needle position is often confirmed with a volumetric MRI scan. Commonly used titanium needles are not directly visible in an MR image, but they generate a susceptibility artifact in the immediate neighborhood of the needle. This paper reports the results of a quantitative study of the relation between the true position of titanium biopsy needle and the corresponding needle artifact position in MR images. The titanium needle artifact was found to be displaced 0.38 mm and 0.32 mm shift in scannerís frequency and phase encoding direction, respectively. The artifact at the tip of the titanium needle was observed to bend toward the scanner's B0 magnetic field direction.



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