An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention

Area of Science:

• Medical Imaging
• Surgical Technology
• Prostate Interventions

Background:

• Transrectal prostate interventions require precise targeting under Magnetic Resonance Imaging (MRI) guidance.
• Existing systems often rely on specific MRI scanner interfaces or complex tracking methods.
• There is a need for versatile and accurate systems for minimally invasive prostate procedures.

Purpose of the Study:

• To report the development and clinical evaluation of the Access to Prostate Tissue (APT) II system.
• To assess the targeting accuracy and usability of the APT II system for MRI-guided transrectal prostate interventions.
• To demonstrate the scanner-independent nature and portability of the APT II system.

Main Methods:

• Development of a scanner-independent system with novel manipulator mechanics and a steerable needle channel.
• Implementation of a six degree-of-freedom hybrid tracking method combining passive fiducial tracking and incremental motion measurements.
• Evaluation in prostate phantom experiments and two clinical human-subject procedures using standard MRI sequences.

Main Results:

• The APT II system achieved favorable targeting accuracy compared to existing passive and active tracking systems.
• The system demonstrated successful application in MRI-guided transrectal prostate interventions.
• The portable design and minimal custom scanner interfacing facilitate use across different MRI scanners.

Conclusions:

• The APT II system represents a significant advancement in MRI-guided transrectal prostate interventions.
• Its novel tracking and design offer improved accuracy, versatility, and ease of use.
• The system is well-suited for broader clinical adoption in prostate interventions.