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Published on: May 19, 2022
Transperineal prostate intervention: robot for fully automated MR imaging--system description and proof of principle
Michael Muntener1, Alexandru Patriciu, Doru Petrisor
1URobotics Laboratory, Department of Urology, Johns Hopkins Medical Institutions, JHBMC, MFL-W115, 5200 Eastern Ave, Baltimore, MD 21224, USA. muntener@jhmi.edu
Abstract:
The study was approved by the animal care and use committee. The purpose of the study was to prospectively establish proof of principle in vivo in canines for a magnetic resonance (MR) imaging-compatible robotic system designed for image-guided prostatic needle intervention. The entire robot is built with nonmagnetic and dielectric materials and in its current configuration is designed to perform fully automated brachytherapy seed placement within a closed MR imager. With a 3.0-T imager, in four dogs the median error for MR imaging-guided needle positioning and seed positioning was 2.02 mm (range, 0.86-3.18 mm) and 2.50 mm (range, 1.45-10.54 mm), respectively. The robotic system is capable of accurate MR imaging-guided prostatic needle intervention within a standard MR imager in vivo in a canine model.
