Axel Krieger1,2, Sang Eun Song3, Nathan Bongjoon Cho3, Peter Guion4, Iulian Iordachita1, Gabor Fichtinger5, Louis L. Whitcomb1
1Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD, United States; 2Sentinelle Medical Inc., Toronto, Canada; 3Engineering Research Center, The Johns Hopkins University, Baltimore, MD, United States; 4National Institute of Health, Bethesda, MD, United States; 5School of Computing,, Queens University, Kingston, Ontario, Canada
This paper reports the design, development and MRI compatibility evaluation of a transrectal prostate robot for MRI-guided intervention. The robot employs an automated needle guide with the goal of increasing needle placement accuracy and reducing interventional procedure times. The design of the robot, employing piezo-ceramic-motor actuated needle guide and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI image SNR with the motors disabled and a 40% to 60% reduction with the motors enabled. The addition of RF shielding is shown to significantly reduce SNR degradation to the presence of the robotic device.