Journal
UROLOGY
Volume 68, Issue 6, Pages 1313-1317Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.urology.2006.08.1089
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Funding
- NCI NIH HHS [R21 CA088232, R21 CA088232-01A1, R33 CA088232, CA088232, R33 CA088232-04, R33 CA088232-02, R33 CA088232-03] Funding Source: Medline
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Objectives. To introduce the development of the first magnetic resonance imaging (MRI)-compatible robotic system capable of automated brachytherapy seed placement. Methods. An MRI-compatible robotic system was conceptualized and manufactured. The entire robot was built of nonmagnetic and dielectric materials. The key technology of the system is a unique pneumatic motor that was specifically developed for this application. Various preclinical experiments were performed to test the robot for precision and imager compatibility. Results. The robot was fully operational within all closed-bore MRI scanners. Compatibility tests in scanners of up to 7 Tesla field intensity showed no interference of the robot with the imager. Precision tests in tissue mockups yielded a mean seed placement error of 0.72 +/- 0.36 mm. Conclusions. The robotic system is fully MRI compatible. The new technology allows for automated and highly accurate operation within MRI scanners and does not deteriorate the MRI quality. We believe that this robot may become a useful instrument for image-guided prostate interventions.
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