The MIRIAM Robot: A Novel Robotic System for MR-Guided Needle Insertion in the Prostate

Pedro Moreira, Gert van de Steeg, Thijs Krabben, Jonathan Zandman, Edsko E. G. Hekman, Ferdinand van der Heijden, Ronald Borra, Sarthak Misra

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Abstract

Early prostate cancer detection and treatment are of major importance to reduce mortality rate. magnetic resonance (MR) imaging provides images of the prostate where an early stage lesion can be visualized. The use of robotic systems for MR-guided inter-ventions in the prostate allows us to improve the clinical outcomes of procedures such as biopsy and brachytherapy. This work presents a novel MR-conditional robot for prostate interventions. The minimally invasive robotics in an magnetic resonance imaging environment (MIRIAM) robot has 9 degrees-of-freedom (DoF) used to steer and fire a biopsy needle. The needle guide is positioned against the perineum by a 5 DoF parallel robot driven by piezoelectric motors. A 4 DoF needle driver inserts, rotates and fires the needle during the procedure. Piezoelectric motors are used to insert and rotate the needle, while pneumatic actuation is used to fire the needle. The MR-conditional design of the robot and the needle insertion controller are presented. MR compatibility tests using T2 imaging protocol are performed showing a SNR reduction of 25% when the robot is operational within the MR scanner. Experiments inserting a biopsy needle toward a physical target resulted in an average targeting error of 1.84 mm. Our study presents a novel MR-conditional robot and demonstrated the ability to perform MR-guided needle-based interventions in soft-tissue phantoms. Moreover, the image distortion analysis indicates that no visible image deterioration is induced by the robot.
Original languageEnglish
Article number1750006
Number of pages1
JournalJournal of medical robotics research
Volume2
Issue number4
DOIs
Publication statusPublished - Dec 2017

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Magnetic resonance
Needles
Robotics
Robots
Imaging techniques
Biopsy
Piezoelectric motors
Fires
Pneumatics
Deterioration
Tissue
Controllers

Keywords

  • MR-conditional robots
  • needle-based interventions
  • MR-guided needle steering
  • prostate interventions
  • prostate biopsy

Cite this

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title = "The MIRIAM Robot: A Novel Robotic System for MR-Guided Needle Insertion in the Prostate",
abstract = "Early prostate cancer detection and treatment are of major importance to reduce mortality rate. magnetic resonance (MR) imaging provides images of the prostate where an early stage lesion can be visualized. The use of robotic systems for MR-guided inter-ventions in the prostate allows us to improve the clinical outcomes of procedures such as biopsy and brachytherapy. This work presents a novel MR-conditional robot for prostate interventions. The minimally invasive robotics in an magnetic resonance imaging environment (MIRIAM) robot has 9 degrees-of-freedom (DoF) used to steer and fire a biopsy needle. The needle guide is positioned against the perineum by a 5 DoF parallel robot driven by piezoelectric motors. A 4 DoF needle driver inserts, rotates and fires the needle during the procedure. Piezoelectric motors are used to insert and rotate the needle, while pneumatic actuation is used to fire the needle. The MR-conditional design of the robot and the needle insertion controller are presented. MR compatibility tests using T2 imaging protocol are performed showing a SNR reduction of 25{\%} when the robot is operational within the MR scanner. Experiments inserting a biopsy needle toward a physical target resulted in an average targeting error of 1.84 mm. Our study presents a novel MR-conditional robot and demonstrated the ability to perform MR-guided needle-based interventions in soft-tissue phantoms. Moreover, the image distortion analysis indicates that no visible image deterioration is induced by the robot.",
keywords = "MR-conditional robots, needle-based interventions, MR-guided needle steering, prostate interventions, prostate biopsy",
author = "Pedro Moreira and {van de Steeg}, Gert and Thijs Krabben and Jonathan Zandman and Hekman, {Edsko E. G.} and {van der Heijden}, Ferdinand and Ronald Borra and Sarthak Misra",
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The MIRIAM Robot : A Novel Robotic System for MR-Guided Needle Insertion in the Prostate. / Moreira, Pedro; van de Steeg, Gert; Krabben, Thijs; Zandman, Jonathan; Hekman, Edsko E. G.; van der Heijden, Ferdinand; Borra, Ronald; Misra, Sarthak.

In: Journal of medical robotics research, Vol. 2, No. 4, 1750006, 12.2017.

Research output: Contribution to journalArticleAcademicpeer-review

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T2 - A Novel Robotic System for MR-Guided Needle Insertion in the Prostate

AU - Moreira, Pedro

AU - van de Steeg, Gert

AU - Krabben, Thijs

AU - Zandman, Jonathan

AU - Hekman, Edsko E. G.

AU - van der Heijden, Ferdinand

AU - Borra, Ronald

AU - Misra, Sarthak

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N2 - Early prostate cancer detection and treatment are of major importance to reduce mortality rate. magnetic resonance (MR) imaging provides images of the prostate where an early stage lesion can be visualized. The use of robotic systems for MR-guided inter-ventions in the prostate allows us to improve the clinical outcomes of procedures such as biopsy and brachytherapy. This work presents a novel MR-conditional robot for prostate interventions. The minimally invasive robotics in an magnetic resonance imaging environment (MIRIAM) robot has 9 degrees-of-freedom (DoF) used to steer and fire a biopsy needle. The needle guide is positioned against the perineum by a 5 DoF parallel robot driven by piezoelectric motors. A 4 DoF needle driver inserts, rotates and fires the needle during the procedure. Piezoelectric motors are used to insert and rotate the needle, while pneumatic actuation is used to fire the needle. The MR-conditional design of the robot and the needle insertion controller are presented. MR compatibility tests using T2 imaging protocol are performed showing a SNR reduction of 25% when the robot is operational within the MR scanner. Experiments inserting a biopsy needle toward a physical target resulted in an average targeting error of 1.84 mm. Our study presents a novel MR-conditional robot and demonstrated the ability to perform MR-guided needle-based interventions in soft-tissue phantoms. Moreover, the image distortion analysis indicates that no visible image deterioration is induced by the robot.

AB - Early prostate cancer detection and treatment are of major importance to reduce mortality rate. magnetic resonance (MR) imaging provides images of the prostate where an early stage lesion can be visualized. The use of robotic systems for MR-guided inter-ventions in the prostate allows us to improve the clinical outcomes of procedures such as biopsy and brachytherapy. This work presents a novel MR-conditional robot for prostate interventions. The minimally invasive robotics in an magnetic resonance imaging environment (MIRIAM) robot has 9 degrees-of-freedom (DoF) used to steer and fire a biopsy needle. The needle guide is positioned against the perineum by a 5 DoF parallel robot driven by piezoelectric motors. A 4 DoF needle driver inserts, rotates and fires the needle during the procedure. Piezoelectric motors are used to insert and rotate the needle, while pneumatic actuation is used to fire the needle. The MR-conditional design of the robot and the needle insertion controller are presented. MR compatibility tests using T2 imaging protocol are performed showing a SNR reduction of 25% when the robot is operational within the MR scanner. Experiments inserting a biopsy needle toward a physical target resulted in an average targeting error of 1.84 mm. Our study presents a novel MR-conditional robot and demonstrated the ability to perform MR-guided needle-based interventions in soft-tissue phantoms. Moreover, the image distortion analysis indicates that no visible image deterioration is induced by the robot.

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KW - prostate biopsy

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