RESUMO
In this paper, to harness the possibility of real-time guidance of MRI, a robotic system has been developed to perform transrectal prostate biopsy inside a 1.5-T closed bore scanner. A specially developed MR pulse sequence is capable of tracking the needle location in real time while dynamically updating the scan planes to always include the needle and target.
Assuntos
Biópsia por Agulha/instrumentação , Imageamento por Ressonância Magnética/instrumentação , Neoplasias da Próstata/patologia , Neoplasias da Próstata/cirurgia , Robótica/instrumentação , Cirurgia Assistida por Computador/instrumentação , Sistemas Computacionais , Desenho de Equipamento , Humanos , Masculino , Reto/patologia , Reto/cirurgia , Interface Usuário-ComputadorAssuntos
Desenho de Equipamento/métodos , Aumento da Imagem/instrumentação , Imagem por Ressonância Magnética Intervencionista/instrumentação , Robótica/instrumentação , Cirurgia Assistida por Computador/instrumentação , Análise de Falha de Equipamento , Imagem por Ressonância Magnética Intervencionista/métodos , Integração de SistemasRESUMO
BACKGROUND: The numerous imaging capabilities of magnetic resonance imaging (MRI) coupled with its lack of ionizing radiation has made it a desirable modality for real-time guidance of interventional procedures. The combination of these abilities with the advantages granted by robotic systems to perform accurate and precise positioning of tools has driven the recent development of MR-compatible interventional and assistive devices. METHODS: The challenges in this field are presented, including the selection of suitable materials, actuators and sensors in the intense magnetic fields of the MR environment. RESULTS: Only a small number of developed systems have made it to the clinical level (only two have become commercial ventures), showing that the field has not yet reached maturity. CONCLUSIONS: A brief overview of the current state of the art is given, along with a description of the main opportunities, possibilities and challenges that the future will bring to this exciting and promising field.