A networked modular hardware and software system for MRI-guided robotic prostate interventions

Hao Su; Weijian Shang; Kevin Harrington; Alex Camilo; Gregory Cole; Junichi Tokuda; Nobuhiko Hata; Clare Tempany; Gregory S. Fischer

doi:10.1117/12.912292

17 February 2012 A networked modular hardware and software system for MRI-guided robotic prostate interventions

Hao Su, Weijian Shang, Kevin Harrington, Alex Camilo, Gregory Cole, Junichi Tokuda, Nobuhiko Hata, Clare Tempany, Gregory S. Fischer

Author Affiliations +

Proceedings Volume 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling; 83161Z (2012) https://doi.org/10.1117/12.912292
Event: SPIE Medical Imaging, 2012, San Diego, California, United States

Abstract

Magnetic resonance imaging (MRI) provides high resolution multi-parametric imaging, large soft tissue contrast, and interactive image updates making it an ideal modality for diagnosing prostate cancer and guiding surgical tools. Despite a substantial armamentarium of apparatuses and systems has been developed to assist surgical diagnosis and therapy for MRI-guided procedures over last decade, the unified method to develop high fidelity robotic systems in terms of accuracy, dynamic performance, size, robustness and modularity, to work inside close-bore MRI scanner still remains a challenge. In this work, we develop and evaluate an integrated modular hardware and software system to support the surgical workflow of intra-operative MRI, with percutaneous prostate intervention as an illustrative case. Specifically, the distinct apparatuses and methods include: 1) a robot controller system for precision closed loop control of piezoelectric motors, 2) a robot control interface software that connects the 3D Slicer navigation software and the robot controller to exchange robot commands and coordinates using the OpenIGTLink open network communication protocol, and 3) MRI scan plane alignment to the planned path and imaging of the needle as it is inserted into the target location. A preliminary experiment with ex-vivo phantom validates the system workflow, MRI-compatibility and shows that the robotic system has a better than 0.01mm positioning accuracy.

Citation Download Citation

Hao Su, Weijian Shang, Kevin Harrington, Alex Camilo, Gregory Cole, Junichi Tokuda, Nobuhiko Hata, Clare Tempany, and Gregory S. Fischer "A networked modular hardware and software system for MRI-guided robotic prostate interventions", Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83161Z (17 February 2012); https://doi.org/10.1117/12.912292

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