Table 1:
MRI robotic system for prostate intervention that are in phantom study phase
| Year | Team | Study type | Accuracy | DOF | Actuation type | Control type | SNR | Design | Institute |
|---|---|---|---|---|---|---|---|---|---|
| 2010 | Bosch et al. [13] | Clinical study (N=1) |
Needle Insertion accuracy < 1mm |
6 DOF | Pneumatic and hydraulic | Atumatic needle insertion | - | - | University Medical Center Utrecht |
| 2010 | Xu et al. [15] | Clinical study (N=21) |
4 mm Mean 2 mm SD |
3 DOF | Passive device | Remote- manual control | - | Passive |
Queen’s University |
| 2011 | Böstrom et al. [16] | Clinical study (N=2) |
3 mm | - | - | - | - | The robot consists of a motorized trajectory alignment (TA) unit | Toronto, Canada |
| 2012 | Schouten et al. [17] | Clinical study (N=13) (T=32) |
6.5 mm | 5 DOF | Pneumatic | Interactive image guidance | - | Table mounted robot | Radboud University |
| 2017 | Ball et al. [18] | Clinical study (N=5) |
2.55 mm | 6 DOF | PneuStep | - | - | 5 DOF parallel robot 1 DOF needle drive |
Johns Hopkins University |
| 2014 | Srimathveeravalli et al. [19] | Animal study (N=6) |
Mean 2.58 mm |
3 DOF | PneuStep | - | Mean value of 9.99 with a SD of 2.88 | 2 DOF needle orientan 1 DOF passive needle insertion |
Memorial Sloan-Kettering Cancer Center |
| 2017 | Chen et al. [22] | Canine Cadaver | 0.9 mm; 0.4 SD mm |
2 DOF | Pneumatic turbine Motors |
- | - | - | University of Georgia |
| 2013 | Jiang et al. [23] | Only design is reported | - | 5 DOF | Ultrasonic motors | - | - | 3 DOF positioner 3 D needle drive |
|
| 2013 | Li et al. [24] Hao et al. [25] |
Phantom | 0.98mm RMS 0.37mm SD |
6 DOF | Non-harmonic piezoelectric motor |
Interactive MRI guidance | No significant signal degradation with a 95% confidence interval | Modular design for various application | Worcester Polytechnic Institute |
| 2013 | Song et al. [26] Tokuda et al. [27] Song et al. [28] |
Saline phantoms patient mockup |
0.8 ± 0.5 mm horizontally 0.8 ± 0.8 mm vertically |
4 DOF | Pneumatically actuated | - | 15% SNR reduction | Parallel kinematic structure | Brigham & Women’s Hospital |
| 2013 | Krieger et al. [29] | Phantom | in-plane targeting error of 2.4 mm | 2 DOF | Piezo-ceramic-motor | - | 40% to 60% drop with RF shielding | Mounted on 6 DOF passive mouting arm | Johns Hopkins University |
| 2015 | Su et al. [30] | Phantom | 0.87 mm RMS | 6 DOF | Piezoelectric motor | Interactive MRI guidance | 15% Loss |
3 DOF needle driver and a 3 DOF Cartesian motion | |
| 2015 | Chen et al. [31] | - | 0.6 mm | 5 DOF | Novel Pneumatic Motors |
- | - | Parallel | Fraunhofer MEVIS |
| 2015 | Yiallouras et al. [32] | Phantoms | Positioning: 23 μm Rotation: 0.11o |
3 DOF | piezoelectric motors | PC-controlled axes | Max 28% | - | City University |
| 2016 | Eslami et al. [33] [34] | In air |
1 mm | 4 DOF | Piezoelectric actuators | - | - | Parallel robot | Johns Hopkins University |
| 2017 | Moreira et al. [21] | Phantom | Average targeting error of 1.84 mm | 9 DOF | Piezoelectric; pneumatic for firing the needle |
- | SNR reduction of 25% | Steer and fire a biopsy needle | University of Twente |