Preliminary Study of a Modular MR-Compatible Robot for Image-Guided Insertion of Multiple Needles.

ABSTRACT: Percutaneous needle-based interventions such as transperineal prostate brachytherapy require the accurate placement of multiple needles to treat cancerous lesions within the target organ. To guide needle placement, magnetic resonance imaging (MRI) offers excellent visualization of the target lesion without the need for ionizing radiation. To date, multi-needle insertion relies on a grid template, which limits the ability to steer individual needles. This work describes an MR-compatible robot designed for the sequential insertion of multiple non-parallel needles under MR guidance. The 6-DOF system is designed with an articulated arm to extend the reach of the robot. This strategy presents a novel approach enabling the robot to maneuver around existing needles while minimizing the footprint

SUBMITTER: Aleong AM 

PROVIDER: S-EPMC9149218 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature