TY - JOUR T1 - Robotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments JF - BRACHYTHERAPY Y1 - 2006 AB - PURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system. METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning and image-registered implant system. The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited. The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses. RESULTS: The first insertion attempt was recorded for each needle, without adjustment. All clinically relevant locations were reached in a prostate phantom. Nonparallel and parallel needle trajectories were demonstrated. Based on TRUS, the average transverse placement error was 2 mm (worst case 2.5 mm, 80% less than 2 mm), and the average sagittal error was 2.5 mm (worst case 5.0 mm, 70% less than 2.5 mm). CONCLUSIONS: The concept and technical viability of robot-assisted brachytherapy were demonstrated in phantoms. The kinematically decoupled robotic assistant device is inherently safe. Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry. © 2006 American Brachytherapy Society. All rights reserved. VL - 5 SN - 1538-4721 IS - 1 N1 - ScopusID: 33645102079doi: 10.1016/j.brachy.2005.10.003 JO - BRACHYTHERAPY ER - TY - JOUR T1 - Po-topic IV-05: Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies JF - ACADEMIC RADIOLOGY Y1 - 2003 VL - 10 SN - 1076-6332 IS - 8 JO - ACAD RADIOL ER - TY - JOUR T1 - System for MR image-guided prostate interventions: Canine study JF - RADIOLOGY Y1 - 2003 AB - The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance and monitoring of prostate interventions. The system used a closed-bore 1.5-T MR imaging unit and enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting and monitoring of prostate interventions. In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved. In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in and around the prostate, thereby confirming that solution had been delivered to the desired tissue and also detecting faulty injections. In the final study, accurate placement and MR imaging of brachytherapy seeds in the prostate were demonstrated. The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic and diagnostic prostate interventions. © RSNA, 2003. VL - 228 SN - 0033-8419 IS - 3 N1 - ScopusID: 0042430628doi: 10.1148/radiol.2283020911Tradenames: CV/i, GE Medical Systems, United StatesManufacturers: Sigma Aldrich, United StatesGE Medical Systems, United States JO - RADIOLOGY ER - TY - JOUR T1 - System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance JF - ACADEMIC RADIOLOGY Y1 - 2002 AB - Rationale and Objectives. The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner. Materials and Methods. The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm; a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner. Results. In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3°, and the average distance between the needle tip and the target was 2 mm. Conclusion. Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications. VL - 9 SN - 1076-6332 IS - 1 N1 - ScopusID: 0036184964doi: 10.1016/S1076-6332(03)80297-0Tradenames: Neuromate robot, Integrated Surgical Systems, United StatesManufacturers: Integrated Surgical Systems, United States JO - ACAD RADIOL ER - TY - CHAP T1 - Transrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance T2 - MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION-MICCAI 2002, PT 1 Y1 - 2002 AB - We present the proof-of-concept prototype of a prostate biopsyrobot to be used inside a conventional high-field MRI scanner. A three degree-of-freedom (DOF) mechanical device translates and rotates inside the rectum and enters a needle into the body, and steers the needle to a target point pre-selected by the user. The device is guided by real-time images from the scanner. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated remotely from outside the imager. The system is also applicable to localized prostate therapy and also demonstrates potential in other intra-cavitary procedures. JF - MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION-MICCAI 2002, PT 1 PB - Springer Verlag CY - Tokyo N1 - UT: 000189412100012BE: Dohi, T: Kikinis, R 5th International Conference on Medical Image Computing and : Computer-Assisted Intervention SEP 25-28, 2002 TOKYO, JAPAN Z9: 26 WC: Computer Science, Theory & Methods Hiányzó Besorolás: 'Article; Proceedings Paper',25,0 #Könyv Kiadás helye ismeretlen ER - TY - CHAP T1 - Approximate Volumetric Reconstruction from Projected Images T2 - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001, 4th International Conference Y1 - 2001 JF - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001, 4th International Conference PB - Springer Verlag CY - Utrecht N1 - doi: 10.1007/3-540-45468-3_235 ER -