Patriciu Alexandru, Petrisor Doru, Muntener Michael, Mazilu Dumitru, Schär Michael, Stoianovici Dan
Urology Department, URobotics Laboratory, The Johns Hopkins University School of Medicine, Baltimore, MD 21224, USA.
IEEE Trans Biomed Eng. 2007 Aug;54(8):1499-506. doi: 10.1109/TBME.2007.900816.
The paper presents a robotic method of performing low dose rate prostate brachytherapy under magnetic resonance imaging (MRI) guidance. The design and operation of a fully automated MR compatible seed injector is presented. This is used with the MrBot robot for transperineal percutaneous prostate access. A new image-registration marker and algorithms are also presented. The system is integrated and tested with a 3T MRI scanner. Tests compare three different registration methods, assess the precision of performing automated seed deployment, and use the seeds to assess the accuracy of needle targeting under image guidance. Under the ideal conditions of the in vitro experiments, results show outstanding image-guided needle and seed placement accuracy.
本文介绍了一种在磁共振成像（MRI）引导下进行低剂量率前列腺近距离治疗的机器人方法。文中介绍了一种全自动的与MR兼容的种子植入器的设计与操作。该植入器与MrBot机器人配合使用，用于经会阴经皮进入前列腺。还介绍了一种新的图像配准标记和算法。该系统与一台3T MRI扫描仪集成并进行了测试。测试比较了三种不同的配准方法，评估了自动种子植入的精度，并使用种子评估了图像引导下针靶向的准确性。在体外实验的理想条件下，结果显示出卓越的图像引导下针和种子放置精度。
