Song Sang-Eun, Cho Nathan, Tokuda Junichi, Hata Nobuhiko, Tempany Clare, Fichtinger Gabor, Iordachita Iulian
National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US.
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 26;2010:796-801. doi: 10.1109/BIOROB.2010.5626987.
Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.
为了推进前列腺癌的检测和治疗，已经引入了磁共振成像（MRI）引导的机器人介入技术。为了克服此类机器人介入技术的问题，我们一直在开发一种用于MRI引导经会阴前列腺介入及其介入程序的气动驱动MRI兼容模块化机器人系统。为了进行系统评估，我们进行了一系列实验，本文报告了一项使用前列腺模型的针插入实验以及患者模拟试验。针插入实验在一个方向上产生了明显一致的误差，我们将对此进行进一步研究。尽管如此，患者模拟试验的经验表明，模块化机器人系统及其介入程序在临床环境中得到了很好的整合和实施。
