A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.
Tokuda, JunichiFischer, Gregory SDiMaio, Simon PGobbi, David GCsoma, CsabaMewes, Philip WFichtinger, GaborTempany, Clare MHata, Nobuhiko1R01CA111288/CA/NCI NIH HHS/United States1R01CA124377/CA/NCI NIH HHS/United States5P01CA067165/CA/NCI NIH HHS/United States5P41RR013218/RR/NCRR NIH HHS/United States5R01CA109246/CA/NCI NIH HHS/United States5U41RR019703/RR/NCRR NIH HHS/United States5U54EB005149/EB/NIBIB NIH HHS/United StatesR01 CA111288-04/CA/NCI NIH HHS/United StatesResearch Support, N.I.H., ExtramuralResearch Support, Non-U.S. Gov'tResearch Support, U.S. Gov't, Non-P.H.S.United StatesComputerized medical imaging and graphics : the official journal of the Computerized Medical Imaging SocietyComput Med Imaging Graph. 2010 Jan;34(1):3-8. Epub 2009 Aug 20.