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

Overview

Journal Med Image Comput Comput Assist Interv

Publisher Springer

Date 2008 Nov 6

PMID 18982666

Citations 6

Authors

Junichi Tokuda

Gregory S Fischer

Csaba Csoma

Simon P DiMaio

David G Gobbi

Gabor Fichtinger

Clare M Tempany

Nobuhiko Hata

Affiliations

Soon will be listed here.

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.

Citing Articles

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