MRI-Compatible Robot

About

Engineers at the University of Hawaii have designed an MRI-compatible robot that enables teleoperative, image-guided needle insertion and manipulation using active tendon-driven needles that can move in a curvilinear path. Conventional medical imaging modalities such as ultrasound and CT for visualization and tip tracking of needles in needle-based procedures are usually challenging. MRI provides superior visualization and imaging feedback for the operator, but requires the needle to be operated teleoperatively. Some MRI-compatible robots use conventional rigid needles that limit movement on a straight line. This robot is designed with MRI-compatible materials and actuators that enable intraoperative control of needle navigation based on real-time MRI imaging feedback. The system is designed for robotic teleoperation (insertion and actuation) of an active tendon-driven needle that can bend towards targets. The robot enables movement in three principal directions with a range of motion appropriate for prostate biopsy and brachytherapy. MRI provides simultaneous imaging of the prostate, cancerous tissue, and the needle. Current systematic prostate biopsy procedures using ultrasound require acquisition of 12 samples from different zones of the prostate gland. Performing prostate biopsy under MRI allows for precise targeted biopsy from the exact location of the tumor marked by a radiologist. Our MRI-compatible robotic enables precise cancer detection via fewer core samples resulting in a less invasive procedure. The goal of MRI-guided robotic needle manipulation is to improve prostate biopsy and cancer detection via enhanced visualization of both the needle and tumor as well as accurate needle navigation and targeting. Tendon-driven active needles have been developed by this research lab and are incorporated to improve needle navigation in procedures.