OBJECTIVE: a magnetic resonance imaging (MRI)-conditional needle guidance robot is developed to enhance MRI-guided focal laser ablation (FLA) therapy in patients with focal prostate cancer. METHODS: inspired by the workflow of the manual FLA therapy, we developed an MRI-conditional robot with two degrees of freedom to provide the guidance for laser ablation catheter. This robot is powered by pneumatic turbine motors and encoded with the custom-designed optical encoder. The needle could be inserted manually through the designed robotic system, which keeps the patients inside MRI bore throughout the procedure. The robot hardware is integrated with the custom ablation planning and monitoring software (OncoNav) to provide an iterative treatment plan to cover the whole ablation zone. Virtual tumors were selected in three canine cadavers as targets to validate the performance of the proposed hardware and software system. RESULTS: phantom studies show that the average targeting error is less than 2 mm and the workflow of the entire procedure lasts for 100 minutes. Canine cadaver experiment results show that all the targets were successfully ablated in no more than three administrations. SIGNIFICANCE: MRI-guided prostate FLA is feasible using the proposed hardware and software system, indicating potential utility in future human trials.
OBJECTIVE: a magnetic resonance imaging (MRI)-conditional needle guidance robot is developed to enhance MRI-guided focal laser ablation (FLA) therapy in patients with focal prostate cancer. METHODS: inspired by the workflow of the manual FLA therapy, we developed an MRI-conditional robot with two degrees of freedom to provide the guidance for laser ablation catheter. This robot is powered by pneumatic turbine motors and encoded with the custom-designed optical encoder. The needle could be inserted manually through the designed robotic system, which keeps the patients inside MRI bore throughout the procedure. The robot hardware is integrated with the custom ablation planning and monitoring software (OncoNav) to provide an iterative treatment plan to cover the whole ablation zone. Virtual tumors were selected in three canine cadavers as targets to validate the performance of the proposed hardware and software system. RESULTS: phantom studies show that the average targeting error is less than 2 mm and the workflow of the entire procedure lasts for 100 minutes. Canine cadaver experiment results show that all the targets were successfully ablated in no more than three administrations. SIGNIFICANCE: MRI-guided prostate FLA is feasible using the proposed hardware and software system, indicating potential utility in future human trials.
Authors: Robert C Susil; Kevin Camphausen; Peter Choyke; Elliot R McVeigh; Gary S Gustafson; Holly Ning; Robert W Miller; Ergin Atalar; C Norman Coleman; Cynthia Ménard Journal: Magn Reson Med Date: 2004-09 Impact factor: 4.668
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
Authors: Ayele H Negussie; Pavel S Yarmolenko; Ari Partanen; Ashish Ranjan; Genevieve Jacobs; David Woods; Henry Bryant; David Thomasson; Mark W Dewhirst; Bradford J Wood; Matthew R Dreher Journal: Int J Hyperthermia Date: 2011 Impact factor: 3.914
Authors: Ashish Ranjan; Genevieve C Jacobs; David L Woods; Ayele H Negussie; Ari Partanen; Pavel S Yarmolenko; Carmen E Gacchina; Karun V Sharma; Victor Frenkel; Bradford J Wood; Matthew R Dreher Journal: J Control Release Date: 2011-12-21 Impact factor: 9.776