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

    Fingerprint

    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",
    year = "2017",
    month = "12",
    doi = "10.1142/S2424905X17500064",
    language = "English",
    volume = "2",
    journal = "Journal of medical robotics research",
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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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    T1 - The MIRIAM Robot

    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

    PY - 2017/12

    Y1 - 2017/12

    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 - needle-based interventions

    KW - MR-guided needle steering

    KW - prostate interventions

    KW - prostate biopsy

    U2 - 10.1142/S2424905X17500064

    DO - 10.1142/S2424905X17500064

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    JO - Journal of medical robotics research

    JF - Journal of medical robotics research

    SN - 2424-905X

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