Meeting Banner
Abstract #2957

Robot-Assisted Needle Alignment with Image-Guided Teleoperated Needle Insertion for Prostate Cancer Interventions

Gregory Scott Fischer1, Weijian Shang1, Hao Su1

1Worcester Polytechnic Institute, Worcester, MA, United States

Intraoperative high-field MR imaging provides visualization of critical structures, but the ability to use that information to guide a surgical intervention is limited due to physical constraints of operating inside the scanner bore. For prostate cancer, the gold standard for diagnosis is biopsy and a common approach to treatment of localized cancer is brachytherapy seed placement both typically performed using an alignment template. We have developed a robotic assistant that aligns the biopsy and brachytherapy needle based on interactive imaging, improving upon standard technique with greater placement precision and interactively updated MR imaging. To maintain control while significantly improving ergonomics, the physician stands beside the patient viewing real-time MR images aligned with the scan plane and inserts the needle using an MR-compatible master device that the robot mimics.

Abstract PDF

Keywords

abstract accuracy actively actuated actuators advantages aligned alignment aligns application artifacts assist assisted available axis backplane beside best better bevel biopsies biopsy boards bore cancer clinician closed commercially commonly compatible compliant configured control controlled controller converter count custom deflection degradation depth designed detection developed device dial efforts enclosure encoder encoders ergonomics error extending fast fiducial field filtered firing fluid frame frequency fully gradient guarantees guided independent inserted insertion inside instrument integrated interfaces interventions irregular joint lateral limits linear live loop made maintain manual manually master mechanical million modular module motor motors move moving needle noise operates operating optic optical orientation outside patient phantom physician piezoelectric pixel poor position positioning power properly prostate protocols providing quality real recorded registration reliably resides resolution resonant respect retraction robot robotic room rotation scale scanner selected sensing sensors seven shape shielded socket software spin square surgery surgical system take target template traditional translation utilized velocity waveform