Image-guided prostate biopsy robots: A review

At present, the incidence of prostate cancer (PCa) in men is increasing year by year. So, the early diagnosis of PCa is of great significance. Transrectal ultrasonography (TRUS)-guided biopsy is a common method for diagnosing PCa. The biopsy process is performed manually by urologists but the diagnostic rate is only 20%–30% and its reliability and accuracy can no longer meet clinical needs. The image-guided prostate biopsy robot has the advantages of a high degree of automation, does not rely on the skills and experience of operators, reduces the work intensity and operation time of urologists and so on. Capable of delivering biopsy needles to pre-defined biopsy locations with minimal needle placement errors, it makes up for the shortcomings of traditional free-hand biopsy and improves the reliability and accuracy of biopsy. The integration of medical imaging technology and the robotic system is an important means for accurate tumor location, biopsy puncture path planning and visualization. This paper mainly reviews image-guided prostate biopsy robots. According to the existing literature, guidance modalities are divided into magnetic resonance imaging (MRI), ultrasound (US) and fusion image. First, the robot structure research by different guided methods is the main line and the actuators and material research of these guided modalities is the auxiliary line to introduce and compare. Second, the robot image-guided localization technology is discussed. Finally, the image-guided prostate biopsy robot is summarized and suggestions for future development are provided

'ACOUSTO-OPTIC SENSING FOR SAFE MRI PROCEDURES'

In this work, a novel sensor platform is developed for safer and more effective magnetic resonance imaging (MRI). This is achieved by tracking interventional devices, such as guidewires and catheters during interventional MRI procedures, and by measuring the radio frequency (RF) field to assess RF safety of patients with implants, such as pacemakers, during diagnostic MRI. The sensor is based on an acousto-optic modulator coupled with a miniature antenna. This structure is realized on an optical fiber which is immune to the RF field and eliminates the need for conducting lines. The acousto-optic modulator consists of a piezo-electric transducer and a fiber Bragg grating (FBG). The piezoelectric transducer is electrically connected to the miniature antenna and mechanically coupled to the FBG. Local RF signal received by the miniature antenna is converted to acoustic waves by the piezoelectric transducer. Acoustic waves change the grating geometry on the FBG, thus the reflected light from the FBG is modulated. For diagnostic imaging, short dipole antennas are used for sensing the local electric field, which is the primary cause of RF induced heating. For tracking purposes, small loop antennas are used for capturing local MRI signal which contains the location information. In this thesis, a comprehensive model for the acousto-optic modulator is developed and validated through sensitivity and linearity tests. Prototype RF field sensors are built and characterized: sensitivity of 1.36mV/nT and 98 μV/V/m with minimum detectable field strength of 8.2pT/√Hz and 2.7V/m/√Hz and dynamic range of 117dB/√Hz at 23MHz are achieved with 4mm single loop and 8mm short dipole antennas, respectively. These figures are competitive with commercial sensors with much larger form factors. Catheter tracking capability of the sensor under MRI is demonstrated in-vivo in swine in a 0.55T scanner using an 8F catheter in addition to phantom studies under 0.55T and 1.5T clinical MRI systems.Ph.D