Int J Med Robot - Accuracy study of a robotic system for MRI-guided prostate needle placement.

Tópicos

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Resumo

CKGROUND: Accurate needle placement is the first concern in percutaneous MRI-guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI-guided robot for prostate biopsy have been identified, quantified and minimized to the possible extent.METHODS: The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called 'before-insertion error') and the error associated with needle-tissue interaction (called 'due-to-insertion error'). Before-insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4-DOF manipulator's error. The due-to-insertion error was indirectly approximated by comparing the overall error and the before-insertion error. The effect of sterilization on the manipulator's accuracy and repeatability was also studied.RESULTS: The average overall system error in the phantom study was 2.5mm (STD=1.1mm). The average robotic system error in the Super Soft plastic phantom was 1.3mm (STD=0.7mm). Assuming orthogonal error components, the needle-tissue interaction error was found to be approximately 2.13mm, thus making a larger contribution to the overall error. The average susceptibility artifact shift was 0.2mm. The manipulator's targeting accuracy was 0.71mm (STD=0.21mm) after robot calibration. The robot's repeatability was 0.13mm. Sterilization had no noticeable influence on the robot's accuracy and repeatability.CONCLUSIONS: The experimental methodology presented in this paper may help researchers to identify, quantify and minimize different sources contributing into the overall needle placement error of an MRI-guided robotic system for prostate needle placement. In the robotic system analysed here, the overall error of the studied system remained within the acceptable range.

Resumo Limpo

ckground accur needl placement first concern percutan mriguid prostat intervent phantom studi differ sourc contribut overal needl placement error mriguid robot prostat biopsi identifi quantifi minim possibl extentmethod overal needl placement error system evalu prostat phantom error broken two part error associ robot system call beforeinsert error error associ needletissu interact call duetoinsert error beforeinsert error measur direct soft phantom differ sourc contribut part identifi quantifi calibr methodolog develop minim dof manipul error duetoinsert error indirect approxim compar overal error beforeinsert error effect steril manipul accuraci repeat also studiedresult averag overal system error phantom studi mm stdmm averag robot system error super soft plastic phantom mm stdmm assum orthogon error compon needletissu interact error found approxim mm thus make larger contribut overal error averag suscept artifact shift mm manipul target accuraci mm stdmm robot calibr robot repeat mm steril notic influenc robot accuraci repeatabilityconclus experiment methodolog present paper may help research identifi quantifi minim differ sourc contribut overal needl placement error mriguid robot system prostat needl placement robot system analys overal error studi system remain within accept rang

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