MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study
MICCAI '00 Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention
Robotic System for Transapical Aortic Valve Replacement with MRI Guidance
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
MRI-ultrasound registration for targeted prostate biopsy
ISBI'09 Proceedings of the Sixth IEEE international conference on Symposium on Biomedical Imaging: From Nano to Macro
Closed-loop control in fused MR-TRUS image-guided prostate biopsy
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
MICCAI'10 Proceedings of the 2010 international conference on Prostate cancer imaging: computer-aided diagnosis, prognosis, and intervention
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
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We present the proof-of-concept prototype of a prostate biopsy robot to be used inside a conventional high-field MRI scanner. A three degree-of-freedom (DOF) mechanical device translates and rotates inside the rectum and enters a needle into the body, and steers the needle to a target point preselected by the user. The device is guided by real-time images from the scanner. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated remotely from outside the imager. The system is also applicable to localized prostate therapy and also demonstrates potential in other intra-cavitary procedures.