Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI

  • Junichi Tokuda
  • Gregory S. Fischer
  • Csaba Csoma
  • Simon P. DiMaio
  • David G. Gobbi
  • Gabor Fichtinger
  • Clare M. Tempany
  • Nobuhiko Hata
Conference paper

DOI: 10.1007/978-3-540-85990-1_84

Volume 5242 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Tokuda J. et al. (2008) Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI. In: Metaxas D., Axel L., Fichtinger G., Székely G. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008. MICCAI 2008. Lecture Notes in Computer Science, vol 5242. Springer, Berlin, Heidelberg

Abstract

A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images. Six states of the system called “workphases” are defined based on the clinical scenario to synchronize behaviors of all components. The wizard-style user interface allows easy following of the clinical workflow. On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI. These features are supported by calibration of robot and image coordinates by the fiducial-based registration. The performance test shows that the registration error of the system was 2.6 mm in the prostate area, and it displayed real-time 2D image 1.7 s after the completion of image acquisition.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Junichi Tokuda
    • 1
  • Gregory S. Fischer
    • 2
  • Csaba Csoma
    • 2
  • Simon P. DiMaio
    • 3
  • David G. Gobbi
    • 4
  • Gabor Fichtinger
    • 4
  • Clare M. Tempany
    • 1
  • Nobuhiko Hata
    • 1
  1. 1.Department of RadiologyBrigham and Women’s Hospital, and Harvard Medical SchoolBostonUSA
  2. 2.Engineering Research Center for Computer Integrated SurgeryJohns Hopkins UniversityBaltimoreUSA
  3. 3.Intuitive Surgical Inc.SunnyvaleUSA
  4. 4.School of ComputingQueen’s UniversityKingstonCanada