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Updated: Jun 4, 2026

Use of MRI-ultrasound Fusion to Achieve Targeted Prostate Biopsy

Use of MRI-ultrasound Fusion to Achieve Targeted Prostate Biopsy

Published on: April 9, 2019

High-field MRI-compatible needle placement robot for prostate interventions.

Hao Su¹, Alex Camilo, Gregory A Cole

¹Worcester Polytechnic Institute, Worcester, MA 01609, USA. haosu@wpi.edu

Studies in Health Technology and Informatics

|February 22, 2011

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This study introduces an MRI-compatible robotic system for precise prostate seed placement during brachytherapy and biopsy. The system utilizes piezoelectric actuators and fiber optic sensors for accurate needle delivery under magnetic resonance imaging guidance.

Area of Science:

Medical Robotics
Biomedical Engineering
Medical Imaging

Background:

Prostate brachytherapy and biopsy require precise needle placement.
Magnetic Resonance Imaging (MRI) offers excellent soft-tissue visualization for guidance.
Existing systems may lack MRI compatibility or precise actuation.

Purpose of the Study:

To design and develop an MRI-compatible robotic system for accurate needle placement in prostate interventions.
To enable precise delivery of radioactive seeds for brachytherapy under interactive MRI guidance.
To incorporate force feedback for enhanced procedural control.

Main Methods:

A modular 3-DOF needle driver and a 3-DOF x-y-z stage were designed as a slave robot.
Piezoelectric actuators were used for precise motion control.

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Fiber optic force sensors were integrated for direct force measurement.

The system was tested with phantom trials in a 3T MRI scanner.

Main Results:

A functional prototype of the MRI-compatible needle placement system was fabricated.
The system demonstrated compatibility with 3T MRI.
Phantom trials validated the precise delivery capabilities for brachytherapy procedures.
The system successfully mimicked manual physician gestures with force feedback.

Conclusions:

The developed MRI-compatible robotic system is suitable for precise prostate brachytherapy and biopsy.
The integration of MRI compatibility, precise actuation, and force sensing enhances procedural safety and accuracy.
This technology holds potential for improving outcomes in prostate cancer treatment.