Michiel R. van den Bosch1, Maaike R. Moman1, Marco van Vulpen1, Jan J. Battermann1, Ed Duiveman2, Leonard J. van Schelven2, Jan J.W Lagendijk1, Marinus A. Moerland1
1Department of Radiotherapy, University Medical Center Utrecht, Utrecht, Netherlands; 2Medical Technology & Clinical Physics, University Medical Center Utrecht, Utrecht, Netherlands
This in-vivo study demonstrates the proof of principle of an MR-compatible robot dedicated for MRI-guided interventions. The robot can be placed between patient's legs inside a 1.5T closed bore scanner for transperineal needle insertion. To minimize tissue deformation, it contains a tapping device to automatically tap (rather than push) the needle towards the target position. Four fiducial gold markers were placed into the prostate of a patient with a stage T3 prostate cancer under MRI-guidance using fast MR sequences. This opens the door for MRI-guided interventions as biopsy and brachytherapy in tissue, where deformation might be problematic.