Design Innovation Paper

Design of a Dedicated Five Degree-of-Freedom Magnetic Resonance Imaging Compatible Robot for Image Guided Prostate Biopsy

[+] Author and Article Information
Longquan Chen, Torben Paetz, Volker Dicken, Scheherazade Krass, Jumana Al Issawi, Darko Ojdanić, Stefan Krass

Fraunhofer MEVIS,
Bremen 28359, Germany

Gerrit Tigelaar, Jan Sabisch

Soteria Medical BV,
Arnhem 6825 MC, The Netherlands

Auguste van Poelgeest, Jonathan Schaechtele

Fraunhofer IPA,
Mannheim 68167, Germany

Manuscript received November 28, 2013; final manuscript received December 29, 2014; published online January 27, 2015. Assoc. Editor: Carl Nelson.

J. Med. Devices 9(1), 015002 (Mar 01, 2015) (7 pages) Paper No: MED-13-1285; doi: 10.1115/1.4029506 History: Received November 28, 2013; Revised December 29, 2014; Online January 27, 2015

In order to improve the current clinical application of magnetic resonance (MR)-guided prostate biopsies, a new, fully magnetic resonance imaging (MRI)-compatible solution has been developed. This solution consists of a five degree-of-freedom (5DOF) pneumatic robot, a programmable logic controller (PLC), and a software application for visualization and robot control. The robot can be freely positioned on the MR table. For the calibration of the robot and MR coordinate system, the robot’s needle guide (NG) is used. The software application supports the calibration with image segmentation and graphic overlays and guides the user through the interventional planning process. After selecting a target point, the application calculates the needed movements via solving the kinematics of the robot and translating the adjustment into commands for the PLC driving the step motors of the robot. In case further adjustments are required, the software also allows for manual control of the robot, to position the NG according to the acquired MR images.

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Fig. 1

Overview of the robot: (a) MRI-compatible robot for prostate biopsy and (b) kinematic description of the robot

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Fig. 2

The system setup and the robot in the MR scanner: (a) overview of the system setup (MRI-compatible robot with needle guide, PC software, and pneumatic valve system with PLC) and (b) robot in the MR scanner

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Fig. 3

The area suitable for prostate biopsies with the robot

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Fig. 4

Piston shape design of basic motion concept

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Fig. 5

Single motor design for translational part of the robot

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Fig. 6

Rotor holes in a flattened view. Large circles relate in reading order to labels 4, 3, 1, 2, and 5 used in the text.

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Fig. 7

Rotation and angulation motors: (a) rotation motor in the upper part of the robot, (b) initial angulation position, and (c) angulation with −45 deg

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Fig. 8

Diagnostic viewers for initial patient examination, top left: T2 weighted image in axial view, top right: diffusion weighted image, bottom left: apparent diffusion coefficient image, and bottom right: T2 weighted image in sagittal view

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Fig. 9

Calibration process: (a) begin of calibration process in the sagittal view, (b) calibration process completed in the sagittal view, and (c) adjusting the calibration in the reformatted orthogonal view generated from the sagittal view

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Fig. 10

Example of in–out motion, (a) planning of a 10 mm out motion and (b) the executed 10 mm out motion

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Fig. 11

Intervention: select a target for biopsy



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