Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions.
作者: Tokuda JunichiSong Sang-EunFischer Gregory SIordachita Iulian ISeifabadi RezaCho Nathan BTuncali KemalFichtinger GaborTempany Clare MHata Nobuhiko
作者单位: 1Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, 75 Francis St., ASB-I, L1-050, Boston, MA, 02115, USA,
刊名: International Journal of Computer Assisted Radiology and Surgery, 2012
来源数据库: PubMed Journal
DOI: 10.1007/s11548-012-0750-1
原始语种摘要: PURPOSE: To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. METHODS: We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner. The robot is designed to guide a needle toward a lesion so that a radiologist can manually insert it in the bore. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the...
全文获取路径: PubMed  (合作)

  • robot 机扑
  • pneumatic 气动的
  • compatible 亲和的
  • needle 针叶
  • navigation 航行
  • MRI Machine-Readable Information
  • placement 浇注
  • freedom 自由
  • targeting 导向目标
  • software 软件