IEEE Trans Biomed Eng. 2018 Jul;65(7):1434-1442. doi: 10.1109/TBME.2017.2756907. Epub 2017 Sep 26.
a magnetic resonance imaging (MRI)-conditional needle guidance robot is developed to enhance MRI-guided focal laser ablation (FLA) therapy in patients with focal prostate cancer.
inspired by the workflow of the manual FLA therapy, we developed an MRI-conditional robot with two degrees of freedom to provide the guidance for laser ablation catheter. This robot is powered by pneumatic turbine motors and encoded with the custom-designed optical encoder. The needle could be inserted manually through the designed robotic system, which keeps the patients inside MRI bore throughout the procedure. The robot hardware is integrated with the custom ablation planning and monitoring software (OncoNav) to provide an iterative treatment plan to cover the whole ablation zone. Virtual tumors were selected in three canine cadavers as targets to validate the performance of the proposed hardware and software system.
phantom studies show that the average targeting error is less than 2 mm and the workflow of the entire procedure lasts for 100 minutes. Canine cadaver experiment results show that all the targets were successfully ablated in no more than three administrations.
MRI-guided prostate FLA is feasible using the proposed hardware and software system, indicating potential utility in future human trials.
开发一种磁共振成像（MRI）条件下的针引导机器人，以增强 MRI 引导的局灶性前列腺癌激光消融（FLA）治疗。
受手动 FLA 治疗流程的启发，我们开发了一种具有两个自由度的 MRI 条件下的机器人，为激光消融导管提供引导。该机器人由气动涡轮电机驱动，并配备了定制设计的光学编码器进行编码。针可以通过设计的机器人系统手动插入，使患者在整个过程中都保持在 MRI 孔内。机器人硬件与定制的消融规划和监测软件（OncoNav）集成，提供迭代治疗计划以覆盖整个消融区域。在三只犬尸体中选择虚拟肿瘤作为目标，以验证所提出的硬件和软件系统的性能。
体模研究表明，平均靶向误差小于 2 毫米，整个过程的工作流程持续 100 分钟。犬尸体实验结果表明，所有目标都在不超过三次治疗中成功消融。
使用所提出的硬件和软件系统，MRI 引导的前列腺 FLA 是可行的，这表明在未来的人体试验中有潜在的应用价值。
