Int J Comput Assist Radiol Surg - Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions.

Tópicos

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Resumo

RPOSE: To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume.METHODS: We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner. The robot is designed to guide a needle toward a lesion so that a radiologist can manually insert it in the bore. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between -5.7? and 5.7? horizontally and between -5.7? and 4.3? vertically in the MRI scanner after sterilizing and draping the device.RESULTS: The robot positioned the needle for angulated insertion as specified on the navigation software with overall targeting error of 0.8 ? 0.5mm along the horizontal axis and 0.8 ? 0.8mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4mm.CONCLUSIONS: Our preclinical evaluation demonstrated that the MRI-compatible pneumatic robot for needle placement with the capability to angulate the needle insertion path provides targeting accuracy feasible for clinical MRI-guided prostate interventions. The clinical feasibility has to be established in a clinical study.

Resumo Limpo

rpose evalu target accuraci small profil mricompat pneumat robot needl placement can angul needl insert path larg access target volumemethod extend mricompat pneumat robot needl placement util four degreesoffreedom dof mechan two parallel triangular structur support transperin prostat biopsi closedbor magnet reson imag mri scanner robot design guid needl toward lesion radiologist can manual insert bore robot integr navig softwar allow oper plan angul needl insert select target entri point target error evalu angl needl insert path static magnet field horizont vertic mri scanner steril drape deviceresult robot posit needl angul insert specifi navig softwar overal target error mm along horizont axi mm along vertic axi twodimension rootmeansquar target error axial slice contain target mmconclus preclin evalu demonstr mricompat pneumat robot needl placement capabl angul needl insert path provid target accuraci feasibl clinic mriguid prostat intervent clinic feasibl establish clinic studi

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