Technical Brief

Robot for Magnetic Resonance Imaging Guided Focal Prostate Laser Ablation1

[+] Author and Article Information
Alexander Squires, Yue Chen, Zion Tsz Ho Tse

College of Engineering,
The University of Georgia,
Athens, GA 30602

Sheng Xu, Reza Seifabadi, Marcelino Bernardo, Ayele Negussie, Peter Pinto, Peter Choyke, Bradford Wood

Department of Radiology and Imaging Sciences,
Center for Interventional Oncology,
National Institutes of Health,
Bethesda, MD 20892

Harsh Agarwal

Philips Research North America,
Briarcliff, NY 10510

DOI: 10.1115/1.4033805Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030942 (Aug 01, 2016) (3 pages) Paper No: MED-16-1116; doi: 10.1115/1.4033805 History: Received March 01, 2016; Revised March 17, 2016

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Siegel, R. , Ma, J. , Zou, Z. , and Jemal, A. , 2014, “ Cancer Statistics, 2014,” CA-Cancer J. Clin., 64(1), pp. 9–29. [CrossRef] [PubMed]
Raz, O. , Haider, M. A. , Davidson, S. R. , Lindner, U. , Hlasny, E. , Weersink, R. , Gertner, M. R. , Kucharcyzk, W. , McCluskey, S. A. , and Trachtenberg, J. , 2010, “ Real-Time Magnetic Resonance Imaging-Guided Focal Laser Therapy in Patients With Low-Risk Prostate Cancer,” Eur. Urol., 58(1), pp. 173–177. [CrossRef] [PubMed]
Xu, S. , Kruecker, J. , Amalou, H. , Kwak, J. T. , and Wood, B. J. , 2014, “ Real-Time Treatment Iterative Planning for Composite Ablations,” Computer Assisted Radiology and Surgery 28th International Congress and Exhibition (CARS 2014), Fukuoka, Japan, June 25–28, pp. 52–53.


Grahic Jump Location
Fig. 1

Needle guidance robot and remote insertion. (a) Surgeon's view of the robot. (b) Manually aligned remote guide. (c) Alignment cone on needle guide. (d) Remote insertion of catheter with extension arm.

Grahic Jump Location
Fig. 2

((a)–(d)) Brachytherapy seed placements and error quantifications: (a) seeds in prostate phantom, (b) MR images, (c) targets and seeds overlaid (mm), and (d) positioning errormap. (e) FLA showing darker ablated zones and virtual tumor outline (indicated by arrow); mild overtreatment is acceptable.



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