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.
Keywords