The feasibility of MR-image guided prostate biopsy using piezoceramic motors inside or near to the magnet isocentre

Elhawary, Haytham, Zivanovic, Aleksandar ORCID logoORCID:, Rea, Marc, Davies, Brian L., Besant, Collin, McRobbie, Donald, Desouza, Nandita M., Young, Ian and Lampérth, Michael (2006) The feasibility of MR-image guided prostate biopsy using piezoceramic motors inside or near to the magnet isocentre. Lecture Notes in Computer Science, 4190 . pp. 519-526. ISSN 0302-9743 [Article] (doi:10.1007/11866565_64)


The excellent soft tissue contrast of Magnetic Resonance Imaging (MRI) has encouraged the development of MRI compatible systems capable of combining the advantages of robotic manipulators with high quality anatomical images. Continuing this development, a new five DOF prostate biopsy manipulator has been designed for use inside a closed 1.5T MRI scanner. Space constraints in the bore and the current trend to restrict field strength exposure for operators indicate that a master-slave configuration is ideal for controlling the robotic system from outside the bore. This system has been designed to work with piezoceramic motors and optical encoders placed inside or near the field of view of the scanner, using real time image guidance for targeting biopsies to specific lesions in the prostate. MRI tests have been performed to prove the feasibility of this concept and a one DOF proof-of-concept test rig implementing closed loop position control has been tested and is presented here. A first prototype of the slave manipulator has been designed and manufactured incorporating this new technology.

Item Type: Article
Additional Information: Originally presented at the 9th intermational Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006 conference held in Copenhagen in October 2006.
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
ISI Impact: 6
Item ID: 7986
Useful Links:
Depositing User: Aleksandar Zivanovic
Date Deposited: 11 Jul 2011 12:48
Last Modified: 13 Oct 2016 14:23

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