In the past several MRI compatible robotic needle guide devices for targeted prostate biopsy have been developed. The large and complex structure have been identified as the major limitations of those devices. Such limitations, in addition to complex steps for device to image registration have prevented widespread implementation of MRI-guided prostate biopsy despite the advantages of MRI compared to TRUS. We have designed a compact MRI-guided robotic intervention with the capability to have angulated insertion to avoid damage to any anatomical feature along the needle path. The system consists of a novel mechanism driven Robotic Needle Guide (RNG). The RNG is a 4-DOF robotic needle manipulator mounted on a Gross Positioning Module (GPM), which is locked on the MRI table. The RNG consists of four parallel stacked disks with an engraved profile path. The rotary motion and positioning of the discs at an angle aids in guiding the biopsy needle. Once a clinician selects a target for needle insertion, the intervention provides possible insertion angles. Then, the most suitable angle is selected by the clinician based on the safest trajectory. The selected target and insertion angle are then computed as control parameters of RNG i.e. the discs are then rotated to the required angle. Insertion is followed by quick confirmation scans to ascertain needle position at all times.
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Master of Science in Mechanical Engineering (M.S.M.E.)
College of Engineering and Computer Science
Mechanical and Aerospace Engineering
Mechanical Engineering; Mechanical Systems
Length of Campus-only Access
Masters Thesis (Open Access)
Zhang, Shihao, "Mechanism Design of a Compact 4-DOF Robotic Needle Guide for MRI-Guided Prostate Intervention" (2018). Electronic Theses and Dissertations, 2004-2019. 5825.