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Paper TuB06.1

Bohren, Jonathan (The Johns Hopkins University), Iordachita, Iulian (Johns Hopkins University), Whitcomb, Louis (The Johns Hopkins University)

Design Requirements and Feasibility Study for a 3-DOF MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention

Scheduled for presentation during the Regular Session "Minimally invasive interventions I" (TuB06), Tuesday, May 15, 2012, 10:30−10:45, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 22, 2018

Keywords Medical Robots and Systems, Product Design, Development and Prototyping, Telerobotics

Abstract

This paper reports the design requirements, practical challenges, and a preliminary design for a magnetic resonance imaging (MRI) guided, three degree-of-freedom (DOF) transrectal prostate intervention robot. We show the operational space constraints imposed by patient anatomy when performing transrectal prostate procedures in a magnetic resonance (MR) scanner bore, as determined by analyzing data from 12 patient procedures with a device. We also describe practical challenges arising in designing a compact actuated MR compatible needle placement robot for MRI-guided transrectal needle intervention in the prostate. We present a preliminary design which aims to improve upon previous un-actuated and partially-actuated devices with the addition of an actuated needle insertion module. Such an enhancement enables needle driving to take place inside the MR scanner bore and thereby may reduce the overall procedure time -- thus improving patient comfort and reducing likelyhood of needle targeting errors resulting from patient motion. We show that it is feasible to add such actuation while reducing the footprint of the device in accordance with the anatomical and MR scanner constraints and practical design requirements.

 

 

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