View source for 2010 Summer Project Week Prostate Intervention

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Image:PW-MIT2010.png|[[2010_Summer_Project_Week#Projects|Projects List]]
Image:MIT2010_BRP_1.jpg|JHU's MRI-compatible needle placement robot in 3T MRI Scanner
Image:MIT2010_BRP_2.jpg|JHU's MRI-compatible needle placement robot in 3T MRI Scanner
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==Key Investigators==
* Queen's University: Tamas Ungi
* Haiying Liu: BWH
* Junichi Tokuda: BWH
* Sam S. Song: JHU

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<h3>Objective</h3>
Develop an MR-compatible needle placement manipulator for MR-guided prostate intervention.

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<h3>Approach, Plan</h3>
We will perform a mock needle biopsy and brachytherapy using the new device at Brigham and Women's Hospital.
3D Slicer is used for planning, guidance and robot control. 
This is a continued work from [[2009_Summer_Project_Week_Prostate_Robotics|2009 Project Week]].
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<h3>Progress</h3>
*We performed Mock therapy in 3T MRI Scanner at Brigham and Women's Hospital
*Fix problem in sharing z-frame registration data among 3D Slicer and the robot
*Fix registration error caused by changed z-frame geometry
*All fix are uploaded to NA-MIC sand box repository (IGTLoadableModules/ProstateNavBWH). This will be merged to main repository (IGTLoadableModules/ProstateNav).

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==Delivery Mechanism==

This work will be delivered to the NA-MIC Kit as a (please select the appropriate options by noting YES against them below)


==References==
*DiMaio S.P., Fischer G.S., Haker S.J., Hata N., Iordachita I., Tempany C.M., Kikinis R., Fichtinger G. [http://www.na-mic.org/publications/item/view/1420 A system for MRI-guided Prostate Interventions.] Proceedings of IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics 2006 Feb.
*Fischer G.S., Iordachita I., Csoma C., Tokuda J., Mewes P.W., Tempany C.M., Hata N., Fichtinger G. [http://www.na-mic.org/publications/item/view/1484 Pneumatically Operated MRI Compatible Needle Placement Robot for Prostate Interventions.] Proceedings of the IEEE International Conference on Robotics and Automation 2008;2489-2495. 
* Mewes P., Tokuda J., DiMaio S., Fischer G., Csoma C., Gobbi D., Tempany C., Fichtinger G., Hata N. [http://www.na-mic.org/publications/item/view/1600 Integrated System for Robot-Assisted in Prostate Biopsy in Closed MRI Scanner.] Proceedings of the IEEE International Conference on Robotics and Automation 2008; 2959-2962. 
*Fischer G.S., Iordachita I., Csoma C., Tokuda J., DiMaio S.P., Tempany C.M., Hata N., Fichtinger G. [http://www.na-mic.org/publications/item/view/1485 MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement.] IEEE/ASME Transactions on Mechatronics  June 2008; 13(3):295-305. 
*Tokuda J., Fischer G.S., Csoma C., DiMaio S.P., Gobbi D.G., Fichtinger G., Tempany C.M., Hata N. [http://www.na-mic.org/publications/item/view/1477 Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI.] Int Conf Med Image Comput Comput Assist Interv. 2008;11(Pt 2):701-709. PMID: 18982666.