Transrectal Prostate Therapy Robot in Closed MRI Scanner

描述（由申请人提供）： 前列腺癌仍然是一个重要的健康问题，是美国男性癌症相关死亡的第二大常见原因。研究表明，前列腺癌的图像引导治疗和活检可以显著受益于MRI成像，但目前还没有技术在传统的封闭式MRI扫描仪内执行此类程序。扫描仪内部的强磁场和极其有限的物理空间，加上术中组织变形和目标运动等困难，构成了巨大的技术障碍。提出了一种图像引导手术机器人系统来克服这一挑战。该装置将在手术医生的监督和控制下，穿过直肠壁将手术针输送到前列腺中。该综合系统将具有机器人辅助功能，包括适当的图像引导、运动规划、控制、图像处理、2D/3D可视化和手术规划技术，所有组件都集成在一个交互式系统中。目标是提供一种临床功能性手术系统，该系统建立通向前列腺的安全且微创的通道，并允许输送各种治疗和诊断程序。

DESCRIPTION (provided by applicant): Prostate cancer continues to be a significant health problem, being the second most common cause of cancer-related death among American men. Studies have shown that image-guided therapy and biopsy of prostate cancer could significantly benefit from MRI imaging, yet no technology exists to perform such procedures inside conventional closed MRI scanners. The strong magnetic field and extremely confined physical space inside the scanner, combined with difficulties like intra-procedural tissue deformation and target motion, present formidable technological barriers. An image-guided surgical robot system is proposed to overcome this challenge. The device will deliver surgical needles into the prostate across the rectum wall, under the supervision and control of the operating physician. The comprehensive system will feature robotic assistance with appropriate image guidance, motion planning, control, image processing, 2D/3D visualization, and surgical planning techniques, all components integrated in one interactive system. The goal is to provide a clinically functional surgical system that establishes a safe and minimally invasive passage to the prostate and allows for the delivery of a variety of therapeutic and diagnostic procedures.