01796nas a2200133   4500008004100000020001400041245010700055210006900162260000900231300001200240490000600252520136300258856004101621       2006                        eng d  a1538-472100aRobotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments0 aRobotically assisted prostate brachytherapy with transrectal ult  c2006  a14 - 260 v53 aPURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system. METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning and image-registered implant system. The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited. The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses. RESULTS: The first insertion attempt was recorded for each needle, without adjustment. All clinically relevant locations were reached in a prostate phantom. Nonparallel and parallel needle trajectories were demonstrated. Based on TRUS, the average transverse placement error was 2 mm (worst case 2.5 mm, 80% less than 2 mm), and the average sagittal error was 2.5 mm (worst case 5.0 mm, 70% less than 2.5 mm). CONCLUSIONS: The concept and technical viability of robot-assisted brachytherapy were demonstrated in phantoms. The kinematically decoupled robotic assistant device is inherently safe. Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry. © 2006 American Brachytherapy Society. All rights reserved.  uhttps://www.inf.szte.hu/en/node/137100437nas a2200121   4500008004100000020001400041245012600055210006900181260000900250300000800259490000700267856004100274       2003                        eng d  a1076-633200aPo-topic IV-05: Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies0 aPotopic IV05 Prostate biopsy and local therapy inside convention  c2003  a9550 v10  uhttps://www.inf.szte.hu/en/node/138101547nas a2200133   4500008004100000020001400041245006800055210006600123260000900189300001400198490000800212520115200220856004101372       2003                        eng d  a0033-841900aSystem for MR image-guided prostate interventions: Canine study0 aSystem for MR imageguided prostate interventions Canine study  c2003  a886 - 8940 v2283 aThe purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance and monitoring of prostate interventions. The system used a closed-bore 1.5-T MR imaging unit and enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting and monitoring of prostate interventions. In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved. In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in and around the prostate, thereby confirming that solution had been delivered to the desired tissue and also detecting faulty injections. In the final study, accurate placement and MR imaging of brachytherapy seeds in the prostate were demonstrated. The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic and diagnostic prostate interventions. © RSNA, 2003.  uhttps://www.inf.szte.hu/en/node/137901116nas a2200109   4500008004100000245011200041210006900153260003300222300001200255520069800267856004100965       2002                        eng d00aTransrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance0 aTransrectal prostate biopsy inside closed MRI scanner with remot  aTokyobSpringer Verlagc2002  a91 - 983 aWe present the proof-of-concept prototype of a prostate biopsyrobot to be used inside a conventional high-field MRI scanner. A 
three degree-of-freedom (DOF) mechanical device translates and 
rotates inside the rectum and enters a needle into the body, and 
steers the needle to a target point pre-selected by the user. 
The device is guided by real-time images from the scanner. 
Networked computers process the medical images and enable the 
clinician to control the motion of the mechanical device that is 
operated remotely from outside the imager. The system is also 
applicable to localized prostate therapy and also demonstrates 
potential in other intra-cavitary procedures.
  uhttps://www.inf.szte.hu/en/node/1380