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Literature DB >> 19699057

Integrated navigation and control software system for MRI-guided robotic prostate interventions.

Junichi Tokuda¹, Gregory S Fischer, Simon P DiMaio, David G Gobbi, Csaba Csoma, Philip W Mewes, Gabor Fichtinger, Clare M Tempany, Nobuhiko Hata.

Abstract

A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. Copyright 2009 Elsevier Ltd. All rights reserved.

Entities: Chemical Disease Species

Mesh：

Year: 2009 PMID： 19699057 PMCID： PMC2815337 DOI： 10.1016/j.compmedimag.2009.07.004

Source DB: PubMed Journal: Comput Med Imaging Graph ISSN： 0895-6111 Impact factor: 4.790

21 in total

1. An integrated visualization system for surgical planning and guidance using image fusion and an open MR.

Authors: D T Gering; A Nabavi; R Kikinis; N Hata; L J O'Donnell; W E Grimson; F A Jolesz; P M Black; W M Wells
Journal: J Magn Reson Imaging Date: 2001-06 Impact factor: 4.813

2. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement.

Authors: Gregory S Fischer; Iulian Iordachita; Csaba Csoma; Junichi Tokuda; Simon P Dimaio; Clare M Tempany; Nobuhiko Hata; Gabor Fichtinger
Journal: IEEE ASME Trans Mechatron Date: 2008-06-01 Impact factor: 5.303

3. A new robotic needle insertion method to minimise attendant prostate motion.

Authors: Vera Lagerburg; Marinus A Moerland; Marco van Vulpen; Jan J W Lagendijk
Journal: Radiother Oncol Date: 2006-07-25 Impact factor: 6.280

4. The feasibility of MR-image guided prostate biopsy using piezoceramic motors inside or near to the magnet isocentre.

Authors: Haytham Elhawary; Aleksander Zivanovic; Marc Rea; Brian Davies; Collin Besant; Donald McRobbie; Nandita de Souza; Ian Young; Michael Lampérth
Journal: Med Image Comput Comput Assist Interv Date: 2006

5. Transperineal prostate biopsy under magnetic resonance image guidance: a needle placement accuracy study.

Authors: Philip Blumenfeld; Nobuhiko Hata; Simon DiMaio; Kelly Zou; Steven Haker; Gabor Fichtinger; Clare M C Tempany
Journal: J Magn Reson Imaging Date: 2007-09 Impact factor: 4.813

6. MRI-compatible manipulator with remote-center-of-motion control.

Authors: Nobuhiko Hata; Junichi Tokuda; Shelley Hurwitz; Shigehiro Morikawa
Journal: J Magn Reson Imaging Date: 2008-05 Impact factor: 4.813

7. Magnetic resonance-guided large-core breast biopsy inside a 1.5-T magnetic resonance scanner using an automatic system: in vitro experiments and preliminary clinical experience in four patients.

Authors: Stefan O R Pfleiderer; Christiane Marx; Jörg Vagner; Ralf-Peter Franke; Jürgen R Reichenbach; Werner A Kaiser
Journal: Invest Radiol Date: 2005-07 Impact factor: 6.016

Review 8. MR-guided interventions of the prostate gland.

Authors: S Zangos; K Eichler; A Thalhammer; J U Schoepf; P Costello; C Herzog; M G Mack; T J Vogl
Journal: Minim Invasive Ther Allied Technol Date: 2007 Impact factor: 2.442

9. MR-guided transgluteal biopsies with an open low-field system in patients with clinically suspected prostate cancer: technique and preliminary results.

Authors: Stephan Zangos; Katrin Eichler; Kerstin Engelmann; Mukhtiar Ahmed; Sebastian Dettmer; Christopher Herzog; Wasilios Pegios; A Wetter; Thomas Lehnert; Martin G Mack; Thomas J Vogl
Journal: Eur Radiol Date: 2004-09-04 Impact factor: 5.315

10. Real-time magnetic resonance image-guided interstitial brachytherapy in the treatment of select patients with clinically localized prostate cancer.

Authors: A V D'Amico; R Cormack; C M Tempany; S Kumar; G Topulos; H M Kooy; C N Coleman
Journal: Int J Radiat Oncol Biol Phys Date: 1998-10-01 Impact factor: 7.038

13 in total

1. The National Alliance for Medical Image Computing, a roadmap initiative to build a free and open source software infrastructure for translational research in medical image analysis.

Authors: Tina Kapur; Steve Pieper; Ross Whitaker; Stephen Aylward; Marianna Jakab; Will Schroeder; Ron Kikinis
Journal: J Am Med Inform Assoc Date: 2011-11-10 Impact factor: 4.497

Integrated navigation and control software system for MRI-guided robotic prostate interventions.

1. An integrated visualization system for surgical planning and guidance using image fusion and an open MR.

2. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement.

3. A new robotic needle insertion method to minimise attendant prostate motion.

4. The feasibility of MR-image guided prostate biopsy using piezoceramic motors inside or near to the magnet isocentre.

5. Transperineal prostate biopsy under magnetic resonance image guidance: a needle placement accuracy study.

6. MRI-compatible manipulator with remote-center-of-motion control.

7. Magnetic resonance-guided large-core breast biopsy inside a 1.5-T magnetic resonance scanner using an automatic system: in vitro experiments and preliminary clinical experience in four patients.

Review 8. MR-guided interventions of the prostate gland.

9. MR-guided transgluteal biopsies with an open low-field system in patients with clinically suspected prostate cancer: technique and preliminary results.

10. Real-time magnetic resonance image-guided interstitial brachytherapy in the treatment of select patients with clinically localized prostate cancer.

1. The National Alliance for Medical Image Computing, a roadmap initiative to build a free and open source software infrastructure for translational research in medical image analysis.

2. Accuracy study of a robotic system for MRI-guided prostate needle placement.

3. MRI Robots for Needle-Based Interventions: Systems and Technology.

4. OpenIGTLink interface for state control and visualisation of a robot for image-guided therapy systems.

5. Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions.

Review 6. The Current State of MR Imaging-targeted Biopsy Techniques for Detection of Prostate Cancer.

7. A magnetic resonance image-guided breast needle intervention robot system: overview and design considerations.

Review 8. MRI for men undergoing active surveillance or with rising PSA and negative biopsies.

9. Development and preliminary evaluation of a motorized needle guide template for MRI-guided targeted prostate biopsy.

10. In vivo evaluation of angulated needle-guide template for MRI-guided transperineal prostate biopsy.