Design Consideration and Development of an MRI-Compatilbe Robot for Prostate Interventions

Abstract Systematic (12-core) ultrasound-guided prostate biopsy is a poor technique traditionally used for detection of prostate cancer, originated in a time predating MRI technology. While ultrasound can reveal the position of the prostate and the needle, it is incapable of locating cancers within the gland— a capability that MRI possesses. Blind systematic biopsies are associated with significant rates of underdiagnosis and overdiagnosis. MRI has introduced the ability to locate the tumor, presenting a unique opportunity to perform targeted prostate biopsies. However, in-bore MRI prostate biopsy is not widely practiced, primarily because the procedure is time-consuming and expensive. Robotic teleoperated instruments that could expedite the operation could be the solution. This work presents design considerations and development of an MRI-compatible robot capable of performing in-bore teleoperative MRI-guided prostate biopsy.