Design of a Robot for Transperineal Prostate Needle Placement in MRI Scanner

摘要

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy and biopsy in the management of prostate cancer. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring prostatic interventions, due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. Despite these advantages, closed high-field MRI scanners (1.5T or greater) have not typically been used in prostate interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The paper explains the design process, component selection and the system currently being prototyped.