Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention

2010 ◽  
Author(s):  
Axel Krieger ◽  
Iulian Iordachita ◽  
Sang-Eun Song ◽  
Nathan B Cho ◽  
Peter Guion ◽  
...  
Keyword(s):  
Preliminary Evaluation ◽  
Robotic Device ◽  
Mri Guided

scholarly journals Preliminary Evaluation of an Adaptive Robotic Training Program of the Wrist for Persons with Multiple Sclerosis

2021 ◽  
Vol 11 (19) ◽  
pp. 9239
Author(s):  
Kailynn Mannella ◽  
Giulia A. Albanese ◽  
David Ditor ◽  
Jacopo Zenzeri ◽  
Michael W. R. Holmes
Keyword(s):  
Multiple Sclerosis ◽  
Training Program ◽  
Upper Extremity ◽  
Neuromuscular Control ◽  
Preliminary Evaluation ◽  
Training Algorithms ◽  
Robotic Device ◽  
Robotic Training ◽  
Post Intervention ◽  
Motor Accuracy

Robotics can be used to describe wrist kinematics and assess sensorimotor impairments, while the implementation of training algorithms can be aimed at improving neuromuscular control. The purpose of this study was to use a robotic device to develop an adaptive and individualized training program of the distal upper extremity for individuals with multiple sclerosis (MS). This approach included an online assessment of performance aimed at changing the level of assistance/resistance provided during the task. Participants (N = 7) completed a robotic training program that occurred 3 times weekly for 4 weeks. The training protocol consisted of tracking a target moving along a figure by grasping the end-effector of the robotic device and moving it along the trajectory. Outcome measures were assessed pre- and post-intervention. Improvements in performance were quantified by average tracking (p = 0.028) and figural error (p = 0.028), which was significantly reduced by 26% and 43%, respectively. Isometric wrist strength significantly improved post-intervention (flexion: p = 0.043, radial and ulnar deviation: p = 0.028). The results of this work demonstrate that 4-weeks of adaptive robotic training is a feasible rehabilitative program that has the potential to improve distal upper extremity motor accuracy and muscular strength in a MS population.

Preliminary Evaluation of Hydraulic Needle Delivery System for MRI Guided Prostate Biopsy Procedures

2021 ◽  
Author(s):  
Davut Ibrahim Mahcicek ◽  
Dursun Korel Yildirim ◽  
Gokce Kasaci ◽  
Ozgur Kocaturk
Keyword(s):  
Delivery System ◽  
Prostate Biopsy ◽  
Transrectal Ultrasound ◽  
Preliminary Evaluation ◽  
Biopsy Needle ◽  
Biopsy Procedure ◽  
Mri Guidance ◽  
Diagnose Prostate Cancer ◽  
Mri Guided

Abstract In clinical routine, the prostate biopsy procedure is performed with the guidance of transrectal ultrasound (TRUS) imaging to diagnose prostate cancer. However, the TRUS-guided prostate biopsy brings reliability concerns due to the lack of contrast difference between prostate tissue and lesions. In this study, a novel hydraulic needle delivery system that is designed for performing MRI-guided prostate biopsy procedure with transperineal approach is introduced. The feasibility of the overall system was evaluated through in-vitro phantom experiments under an MRI guidance. The in vitro experiments performed using a certified prostate phantom (incorporating MRI visible lesions). MRI experiments showed that overall hydraulic biopsy needle delivery system has excellent MRI compatibility (SNR Loss < 3%), provides acceptable targeting accuracy (average 2.05±0.46 mm) and procedure time (average 40 minutes).

scholarly journals Development and Preliminary Evaluation of a Motorized Needle Guide Template for MRI-Guided Targeted Prostate Biopsy

2013 ◽  
Vol 60 (11) ◽  
pp. 3019-3027 ◽  
Author(s):  
Sang-Eun Song ◽  
Junichi Tokuda ◽  
Kemal Tuncali ◽  
Clare M. Tempany ◽  
Elizabeth Zhang ◽  
...  
Keyword(s):  
Prostate Biopsy ◽  
Preliminary Evaluation ◽  
Mri Guided
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