Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions


Gregory S Fischer, Iulian Iordachita, Csaba Csoma, Junichi Tokuda, Philip W Mewes, Clare M Tempany, Nobuhiko Hata, and Gabor Fichtinger. 2008. “Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.” IEEE Int Conf Robot Autom, 2008, Pp. 2489-2495.


Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.