Accession Number : ADA549092


Title :   Development of an MRI-Guided Intra-Prostatic Needle Placement System


Descriptive Note : Annual rept. 1 Jul 2010-30 Dun 2011


Corporate Author : WORCESTER POLYTECHNIC INST MA


Personal Author(s) : Fischer, Gregory S


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a549092.pdf


Report Date : Jul 2011


Pagination or Media Count : 60


Abstract : Magnetic Resonance Imaging (MRI) is an ideal interventional guidance modality: it provides near real-time high-resolution images at arbitrary orientations and is able to monitor therapeutic agents, surgical tools, biomechanical tissue properties, and physiological function. MRI poses formidable engineering challenges by severely limited access to the patient and high magnetic field that prevents the use of conventional materials and electronic equipment. The objective is to make conventional diagnostic closed high-field MRI scanners available for guiding prostatic needle placement interventions using a robotic assistant. In Year 2 we defined system workflow and developed an integrated hardware and software system consists of a navigation software, a robot middleware interface, a piezoelectric motor controller and a 6 degree of freedom (DOF) needle placement robot with integrated fiberoptic force sensing. We have validated the system workflow, MRI compatibility and needle steering capability with real-time MRI guidance.


Descriptors :   *MAGNETIC RESONANCE IMAGING , *PROSTATE CANCER , ACCESS , BIOMECHANICS , COMPATIBILITY , COMPUTER PROGRAMS , DETECTION , DIAGNOSIS(GENERAL) , ELECTRONIC EQUIPMENT , EMPLACEMENT , FIBER OPTICS , FUNCTIONS , GUIDANCE , INTEGRATED SYSTEMS , MOTORS , NAVIGATION , NEEDLES , PATIENTS , PHYSIOLOGY , PIEZOELECTRIC MATERIALS , REAL TIME , ROBOTICS , SCANNERS , STEERING , SURGICAL INSTRUMENTS , VALIDATION


Subject Categories : Anatomy and Physiology
      Medicine and Medical Research
      Medical Facilities, Equipment and Supplies
      Optics


Distribution Statement : APPROVED FOR PUBLIC RELEASE