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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
Design of a novel MRI compatible manipulator for image guided prostate interventions
Axel Krieger1, Robert C Susil, Cynthia Ménard
1Department of Radiology, The Johns Hopkins University, Baltimore, MD 21218, USA.
Abstract:
This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.
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