Abstract
This paper reports an interactive software interface for visualization, planning, and monitoring of intra-prostatic needle placement procedures performed with a robotic assistant device inside standard cylindrical high-field magnetic resonance imaging (MRI) scanner. We use anatomical visualization and image processing techniques to plan the process and apply active tracking coils to localize the robot in real-time to monitor its motion relative to the anatomy. The interventional system is in Phase-I clinical trials for prostate biopsy and marker seed placement. The system concept, mechanical design, and in-vivo canine studies have been presented earlier [6,10,14]. The software architecture and three-dimensional application software interface discussed in this paper are new additions. This software was tested on pre-recorded patient data.
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Keywords
- Magnetic Resonance Imaging Scanner
- Prostate Biopsy
- Inverse Kinematic
- Magn Reson Image
- Monitoring Software
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References
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Balogh, E. et al. (2004). Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot. In: Barillot, C., Haynor, D.R., Hellier, P. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004. MICCAI 2004. Lecture Notes in Computer Science, vol 3217. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30136-3_10
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DOI: https://doi.org/10.1007/978-3-540-30136-3_10
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