Robot-assisted MRI-guided prostatic interventions

Robotica

Volumn 28, Issue 2, 2010, Pages 215-234

  Goldenberg, Andrew A ^a,b   Trachtenberg, John ^c,d   Yi, Yang ^a   Weersink, Robert ^c   Sussman, Marshall S ^e   Haider, Masoom ^c,d   Ma, Liang ^a   Kucharczyk, Walter ^d,e  

^a Engineering Services Inc   (Canada)

^b UNIVERSITY OF TORONTO   (Canada)

^c PRINCESS MARGARET HOSPITAL   (Canada)

^d UNIVERSITY OF TORONTO   (Canada)

^e TORONTO GENERAL HOSPITAL   (Canada)

Author keywords

Magnetic resonance imaging (MRI); Modular surgical tool; MRI compatibility; MRI guided robot; Prostatic interventions; Robot assisted surgery; Thermal mapping; Ultrasonic motors

Indexed keywords

MRI COMPATIBILITY; ROBOT-ASSISTED SURGERY; SURGICAL TOOLS; THERMAL MAPPING; ULTRASONIC MOTORS;

ABLATION; IMPLANTS (SURGICAL); MAGNETIC RESONANCE; MAGNETIC RESONANCE IMAGING; MAPPING; MOTORS; OPTICAL FIBERS; PIEZOELECTRIC DEVICES; PIEZOELECTRIC MOTORS; PULSED LASER APPLICATIONS; ROBOTS; TRANSPLANTATION (SURGICAL); ULTRASONIC MACHINE TOOLS; ULTRASONICS;

SURGICAL EQUIPMENT;

EID: 77949774319     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S026357470999066X     Document Type: Article

References (37)

1. J. G. Bornson, "Imaging prostate cancer: Before, during, and after treatment," Imaging Economics (Oct.-Nov. 2001).
2. K. Chinzei and K. Miller, "Towards MRI guided surgical manipulator," Med. Sci. Mon. 7(1), 153-163 (2001).
3. R. Chopra, J. Wachsmuth, M. Burtnyk, M. A. Haider and M. A. Bronskill, "Analysis of factors important for transurethral ultrasound prostate heating using MR temperature feedback," Phys. Med. Biol. 51, 827-844 (2006).
4. S. P. DiMaio, G. S. Fischer, S. J. Haker, N. Hata, I. Iordachita, C. M. Tempany, R. Kikinis and G. Fichtinger, "A system for MRI-guided prostate interventions," Proceedings of the International Conference on Biomedical Robotics and Biomechatronics (BioRob), Pisa, Italy (2006).
5. S. E. Eggener, P. T. Scardino, P. R. Carroll, M. J. Zelefsky, O. Sartor, H. Hricak, T. M. Wheeler, S. W. Fine, J. Trachtenberg, M. A. Rubin, M. Ohori, K. Kuroiwa, M. Rossignol and L. Abenhaim, "Focal therapy for localized prostate cancer: A critical appraisal of rationale and modalities," J. Urol. 178, 2260-2267 (2007).
6. H. Elhawary, A. Zivanovic, B. Davies and M. Lampérth, "A review of magnetic resonance imaging. compatible manipulators in surgery," J. Eng. Med. Proc. Inst. Mech. Eng., Part H 220(3), 413-424 (2006).
7. H. Elhawary, A. Zivanovic, M. Rea, B. Davies, C. Besant, D. McRobbie, N. de Souza, I. Young and M. Lamṕerth, "The feasibility of MR-image guided prostate biopsy using piezoceramic motors inside or near to the magnet isocentre," Medical Image Computing and Computer-Assisted Intervention-MICCAI, Springer-Verlag, Berlin, Part 1 (2006) pp. 519-526.
8. G. S. Fischer, I. Iordachita, C. Csoma, J. Tokuda, S. P. DiMaio, C. M. Tempany, N. Hata and G. Fichtinger, "MRI-compatible pneumatic robot for transperineal prostate needle placement," IEEE/ASME Trans. Mechatron. 13(3), 295-305 (2008).
9. J. J. Futterer, S.W. Heijmink,W. T. Scheenen, J. Veltman, H. J. Huisman, P. Vos, C. A. Hulsbergen-Van de Kaa, J. A.Witjes, P. F. Krabbe, A. Heerschap and J. O. Barentsz, "Prostate cancer localization with dynamic contrast-enhanced MR imaging and proton MR spectroscopic imaging," Radiology 241(2), 449-458 (2006).
10. A. A. Goldenberg, J. Trachtenberg, W. Kucharczyk, Y. Yang, M. Haider, L. Ma, R.Weersink, C. Raoufi, "Robotic system for closed-boreMRI-guided prostatic interventions," ASME/IEEE Trans. Mechatron. 13(3), 374-379 (2008).
11. M. A. Haider, T. H. van der Kwast, J. Tanguay, A. J. Evans, A. T. Hashmi, G. Lockwood and J. Trachtenberg, "Combined T2-weighted and diffusion-weighted MRI for localization of prostate cancer," AJR Am. J. Roentgenol. 189, 323-328 (2007).
12. N. Hata, F. Ohara, R. Hashimoto, M. Hashizume and T. Dohi, "Needle guiding robot with five-bar linkage for MR-guided thermotherapy of liver tumor," Proceedings of MICCAI, Saint-Malo, France (2004).
13. W. A. Kaiser, H. Fischer, J. Vagner and M. Selig, "Robotic system for biopsy and therapy of breast lesions in a high-field whole-body magnetic resonance tomography unit," Investig. Radiol. 35(8), 513-519 (2000).
14. Y. Koseki, K. Chinzei, N. Koyachi and T. Arai, "Robotic assist forMR-guided surgery using leverage and parallelepiped mechanism," Medical Image Computing and Computer-Assisted Intervention-MICCAI 2000, Springer, Berlin 220(3) (2000) pp. 940-948.
15. D. Kim and T. Dohi, "A new, compact MR-compatible surgical manipulator forminimally invasive liver surgery". Proceedings of MICCAI 2002 (2002) pp. 99-106.
16. K. C. Kim, B. K. Park and B. Kim, "Localization of prostate cancer using 3T MRI: Comparison of T2-weighted and dynamic contrast-enhanced imaging," J. Comput. Assist. Tomogr. 30(1), 7-11 (2006).
17. A. Krieger, R. Susil, C. Menard, J. Coleman, G. Fichtinger, E. Atalar and L. Whitcomb, "Design of a novel MRI compatible manipulator for image guided prostate intervention," IEEE Trans. Biomed. Eng. 52(2) 306-313 (2005).
18. V. Lagerburg, M. A. Moerland, M. K. Konings, R. E. van de Vosse, J. J. W. Lagendijk and J. J. Battermann, "Development of a device: A new needle insertion method for prostate brachytherapy," Phys. Med. Biol. 51, 891-902 (2006).
19. V. Lagerburg, M. A. Moerland, M. van Vulpen and J. J. W. Lagendijk, "Anewrobotic needle insertionmethod to minimise attendant prostate motion," Radiother. Oncol. 80(1), 73-77 (2006).
20. B. T. Larson, A. G. Erdman, N. V. Tsekos, E. Yacoub, P. V. Tsekos and I. G. Koutlas, "Design of an MRI-compatible robotic stereotactic device forminimally invasive interventions in the breast," J. Biomech. Eng. [Trans. ASME] 126, 458-465 (2004).
21. H. K. Lim, J. K. Kim, K. A. Kim and K. S. Cho, "Prostate cancer: Apparent diffusion coefficient map with T2-weighted images for detection-Amultireader study," Radiology 250(1), 145-151 (2009).
22. D. F. Louw, T. Fielding, P. McBeth, D. Gregoris, P. Newhook and G. R. Sutherland, "Surgical robotics, a review and neurosurgical prototype development," Neurosurgery 54(3), 525-535 (2004).
23. J. A. Markisz and M. Aquilia, Technical Magnetic Resonance Imaging (McGraw-Hill, 1996).
24. K. Masamune, E. Kobayashi, Y. Masutani, M. Suzuki, T. Dohi, H. Iseki and K. Takakura, "Development of anMRI-compatible needle insertion manipulator for stereotactic neurosurgery," J. Image Guided Surg. 1, 242-248 (1995).
25. N. Miyata, E. Kobayashi, D. Kim, K. Masamune, I. Sakuma, N. Yahagi, T. Tsuji, H. Inada, T. Dohi, H. Iseki and K. Takakura, "Micro-grasping forceps manipulator for MRguided neurosurgery," Proceedings MICCAI (2002) pp. 107-113.
26. Y. Mazaheri, A. Shukla-Dave, H. Hricak, S.W. Fine, J. Zhang, G. Inurrigarro, C. S. Moskowitz, N. M. Ishill, V. E. Reuter, K. Touijer, K. L. Zakian and J. A. Koutcher, "Prostate cancer: Identification with combined diffusion-weighted MR imaging and 3D 1H MR spectroscopic imaging-Correlation with pathologic findings," Radiology 246(2), 480-488 (2008).
27. R. Nakamura, K. Masamune, Y. Nishikawa, E. Koboayashi, I. Sakuma, T. Dohi, H. Iseki and K. Takakura, "Development of a sterilizable MRI-compatible manipulator for stereotactic neurosurgery," Proceedings of Computer Assisted Radiology and Surgery (CARS' 99), Paris (1999).
28. M. Oura, Y. Kobayashi, J. Okamoto and M. G. Fujie, "Development of MRI compatible versatile manipulator for minimally invasive surgery," Biomedical Robotics and Biomechatronics. The First IEEE/RAS-EMBS International Conference (2006) pp. 176-181.
29. R. D. Peters, R. S. Hinks and R. M. Henkelman,"Ex vivo tissue-type independence in proton-resonance frequency shift MR thermometry," Magn. Reson. Med. 40, 454-459 (1998).
30. A. L. Potosky, W. W. Davis, R. M. Hoffman, J. L. Stanford, R. A. Stephenson, D. F. Penson and L. C. Harlan, "Fiveyear outcomes after prostatectomy or radiotherapy for prostate cancer: The prostate cancer outcomes study," J. Natl. Canc. Inst. 96(18), 1358-1367 (2004).
31. C. Raoufi, P. Ben-Tzvi, A. A. Goldenberg andW. Kucharczyk, "A MR-compatible tele-robotic system for MRI-guided intervention: System overview and mechanical design," Proceedings of IEEE/RSJ Conference on Intelligent Robots and Systems, San Diego, CA (2007).
32. D. Stoianovici, D. Song, D. Petrisor, D. Ursu, D. Mazilu, M. Muntener, M. Schar and A. Patriciu, "MRI stealth robot for prostate interventions," Minim. Invasive Ther. 16(4), 241-248 (2007).
33. T. Suzuki, H. Liao, E. Kobayashi and I. Sakuma, "Ultrasonic motor driving method for EMI-free image and MR imageguided surgical robotic system," Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (2007) pp. 522-527.
34. F. Tajima, K. Kishi, K. Nishizawa, K. Kan, Y. Nemoto, H. Takeda, S. Umemura, H. Takeuchi, M. G. Fujie, T. Dohi, K. Sudo and S. Takamoto, "Development of MR compatible surgical manipulator toward a unified support system for diagnosis and treatment of heart disease," Proceedings of MICCA '02 (2002) pp. 83-90.
35. N. V. Tsekos, A. Ozcan and E. Christoforou, "A prototype manipulator for magnetic resonance-guided interventions inside standard cylindrical magnetic resonance imaging scanner," J. Biomed. Eng. 127, 972-980 (2005).
36. N. Tsekos, A. Khanicheh, E. Christoforou and C. Mavroidis, "Magnetic-resonance compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: A review study," Ann. Rev. Biomed. Eng. 9, 351-387 (2007).
37. K. K. Yu and H. Hricak, "Imaging prostate cancer," Radiol. Clin. North Am. 38(1) 59-85 (2000).