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):

Report Date:

2011-07-01

Pagination or Media Count:

60.0

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.

Subject Categories:

  • Anatomy and Physiology
  • Medicine and Medical Research
  • Medical Facilities, Equipment and Supplies
  • Optics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE