AI Article Synopsis

  • The study introduces a new MR-compatible robot designed for inserting multiple needles during cancer treatment, enhancing precision beyond current grid-based methods.
  • This robot features a 6-degree-of-freedom (6-DOF) articulated arm that allows for advanced maneuverability around existing needles, aiming to reduce space constraints in the operating environment.
  • Testing demonstrated that while the robot slightly affected image quality, it successfully inserted multiple needles in real-time under MR guidance without significant loss in imaging clarity.

Article 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 of the robot. Forward kinematics as well as optimization-based inverse kinematics are presented. The impact of the robot on image quality was tested for four sequences (T1w-TSE, T2w-TSE, THRIVE and EPI) on a 3T Philips Achieva system. Quantification of the signal-to-noise ratio showed a 46% signal loss in a gelatin phantom when the system was powered on but no further adverse effects when the robot was moving. Joint level testing showed a maximum error of 2.10 ± 0.72°s for revolute joints and 0.31 ± 0.60 mm for prismatic joints. The theoretical workspace spans the proposed clinical target surface of 10 x 10 cm. Lastly, the feasibility of multi-needle insertion was demonstrated with four needles inserted under real-time MR-guidance with no visible loss in image quality.

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Source
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC9149218PMC
http://dx.doi.org/10.3389/fonc.2022.829369DOI Listing

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