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DOI: 10.1148/radiol.2472070737
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(Radiology 2008;247:543-549.)
© RSNA, 2008

Technical Developments

Transperineal Prostate Intervention: Robot for Fully Automated MR Imaging—System Description and Proof of Principle in a Canine Model1

Michael Muntener, MD, Alexandru Patriciu, PhD, Doru Petrisor, PhD, Michael Schär, PhD, Daniel Ursu, MS, Danny Y. Song, MD, and Dan Stoianovici, PhD

1 From the URobotics Laboratory, Department of Urology, Johns Hopkins Medical Institutions, JHBMC, MFL-W115, 5200 Eastern Ave, Baltimore, MD 21224. Received April 25, 2007; revision requested June 15; revision received August 15; accepted September 12; final version accepted October 15. Supported in part by the Prostate Cancer Foundation (PCF) and the National Institutes of Health (NIH) (CA088232). Address correspondence to M.M. (e-mail: muntener{at}jhmi.edu).

The study was approved by the animal care and use committee. The purpose of the study was to prospectively establish proof of principle in vivo in canines for a magnetic resonance (MR) imaging–compatible robotic system designed for image-guided prostatic needle intervention. The entire robot is built with nonmagnetic and dielectric materials and in its current configuration is designed to perform fully automated brachytherapy seed placement within a closed MR imager. With a 3.0-T imager, in four dogs the median error for MR imaging–guided needle positioning and seed positioning was 2.02 mm (range, 0.86–3.18 mm) and 2.50 mm (range, 1.45–10.54 mm), respectively. The robotic system is capable of accurate MR imaging–guided prostatic needle intervention within a standard MR imager in vivo in a canine model.

© RSNA, 2008




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