U41:Prostate:BRP Robotics Project Page

From NCIGT Wiki
Jump to: navigation, search
Home < U41:Prostate:BRP Robotics Project Page

Contents

BRP Project Page

Grant Number: 1R01CA111288-01A1
PI Name: Clare M. Tempany, MD
PI Email: ctempany@bwh.harvard.edu
PI Title: Director of Clinical MRI, BWH
Project Title: Enabling Technologies for MRI-Guided Prostate Interventions
Project Start: 01-JUL-2006
Project End: 31-MAY-2011
Grant Text: BRP-Resub-May19-6pm-FINAL.pdf


Abstract: MRI is an ideal imaging tool for guiding and monitoring prostate cancer biopsy and local therapy. The high sensitivity and specificity to focal prostate lesions and abnormalities, combined with real-time monitoring of the delivery process and subsequent physiological changes hold great potentials. Unfortunately, closed high-field MRI scanners, the most superior imaging systems, have been unavailable for interventions. The strong magnetic field and confined physical space present formidable challenges, and "conventional" difficulties such as needle deflection, tissue deformation, and target motion add to the problem. Our teams have established the clinical and technical feasibility for MRI-guided prostate biopsy and therapy. We are proposing to translate this technology outside the confines of our specialized research hospitals. In particular, we will develop a technology platform for precise trans-perineal needle placement into the prostate for both diagnostic and therapeutic purposes; inside conventional (high-field closed) MRI scanners, under real-time image guidance and monitoring. This system will be uniformly applicable to'a wide range of MRI scanners, supporting long bore, short bore, and open magnets of high and low fields alike. The initial applications will be prostate biopsy and low-dose-rate Brachytherapy. This system will be robust, simple, and operable by a multi-disciplinary team of physicians. Toward this goal, we propose a BRP between the Brigham and Women's Hospital, Johns Hopkins University, and CMS Image Guidance Division (formerly Burdette Medical). Our teams have complimentary strengths in MR guided interventions, robotics, and prostate cancer treatment with intraoperative dosimetry. A research triangle has been in de-facto existence for several years and produced shared technology, publications, and inventions; supported by government grants. The Brigham group established the clinical feasibility of MR guided transperineal prostate biopsy and brachytherapy, funded by RO1-5R01AG019513-03 (PI Tempany). The Hopkins team created an in-MRI prostate robot currently in human trials for biopsy and seed placement, co-funded by R01-EB002963-01 (PI: Fichtinger). The Burdette group developed a commercial prostate cancer brachytherapy suite with over 60 installations worldwide, co-funded by NIH grants 5R44CA088139-04 and 1R43CA099374-01 (PI: Burdette). Strong results, multidisciplinary expertise, and existing partnerships support our proposal.


BRP RENEWAL

Facilities document for prostate imaging


ACTIVE TASK WORKSPACES

YEAR 1 TASKS

YEAR 1 PROGRESS REPORT

YEAR 2 PROGRESS REPORT

YEAR 4 PROGRESS REPORT

YEAR 5 PROGRESS REPORT

YEAR 6 (second cycle year 1) PROGRESS REPORT

YEAR 7 (second cycle year 2) PROGRESS REPORT

2013 BRP ANNUAL PROGRESS REPORT


What do you plan to do during the next reporting period to accomplish the goals? Describe briefly what you plan to do during the next reporting period to accomplish the goals and objectives.

Publications List

File:2013 BRP Progress Report Publications List.doc

2014 BRP ANNUAL PROGRESS REPORT

2015 BRP ANNUAL PROGRESS REPORT

2016 BRP FINAL REPORT

ProstateBRP:FinalReport

Mailing List

Access [[1]] and register yourself.


EVENTS

Weekly Teleconferences

You call this phone number:

  218-936-1100

and then you input this number:

  243947#

Conference organizer's passcode is

243936#

Minutes

Publications in progress

Others

2015

  1. How to test Realtime MRI interface for RadVision

2014

  1. New Z-frame embedded in patient holding frame (white frame)
  2. P41:Prostate:BRP:PreDryRunAtBWH_Feb2014
  3. P41:Prostate:BRP:ClinicalDryRunAtBWH_May1_2014
  4. P41:Prostate:BRP:PreClinicalTrialAtBWH_June_2014

2013

  1. MRI_New_BRP_OpenIGTLink_Protocol_2013_June
  2. Experiment at BWH, October 2013
  3. Latest MRI Protocol for MRI-guided Prostate Biopsy
  4. Dry run at AMIGO on November 21, 2013

2012

  1. Software clean-up, January, 2012
  2. Dry-Run in January, 2012
  3. New protocol for Robot-Slicer communication -> Updated on August 24, 2012
  4. Needle detection
  5. File:P41 Guidance VolunteerStudy 2012 June 04.zip
  6. Year 2 Work Statement from Guidance team at BWH

2011

  1. Robot Test in February 21-22, 2011
  2. AMIGO Dry-Run in July 14, 2011
  3. Discussion on Aim 1 in the new cycle, October 20, 2011
  4. Dry-Run in Dec, 2011

2010

  1. Robot integration Test in June, 2010
  2. RadVision Test on March 29 - April 1, 2010
  3. BRP Renewal Meeting on June 18, 2010
  4. Experiment at BWH(June 18-20)
  5. Artifact Test: In Vivo's core biopsy needle
  6. Testing HASTE sequence
  7. eCoil Phantom test, 18 Dec 2010

2009

  1. Workspace Analysis Experiment January 10, 2009 (pre-volunteer)
  2. Workspace Analysis Experiment May 5, 2009 (volunteer)
  3. Workspace Analysis Experiment June 2, 2009 (volunteer)
  4. Project Week 2009 MIT
  5. Experiment at BWH (Oct 21-23, 2009)

2008

  1. Experiment at BWH (Feb 27-29, 2008)
  2. Experiment June 24, 2008
  3. Experiment December, 2008
  4. Photos from IGT Project Week, December, 2008

2007

  1. BWH team's visit to JHU (July 16-20, 2007)
  2. JHU meeting, July 17th, 2007
  3. Meeting @ Project Week 2007 MIT
  4. Meeting @ JHU, July 19, 2007
  5. JHU team's visit to BWH (September 9-10)
  6. Project Week 2007 Resources
  7. NaviTrack Tutorial by Haiying and Junichi

2008 Clinical IGT workshop- co-sponsored by NIH/NCIGT DC March 10-11




CLINICAL CASES

2010

  1. MRI-guided Transperineal Prostate Biopsy #001 (January 21, 2010)
  2. MRI-guided Transperineal Prostate Biopsy #002 (May 27, 2010)
  3. MRI-guided Transperineal Prostate Biopsy #003 (June 3, 2010)
  4. MRI-guided Transperineal Prostate Biopsy #004 (June 11, 2010)
  5. MRI-guided Transperineal Prostate Biopsy #005 (July 21, 2010)
  6. MRI-guided Transperineal Prostate Biopsy #006 (August 18, 2010)
  7. MRI-guided Transperineal Prostate Biopsy #007 (August 25, 2010)
  8. MRI-guided Transperineal Prostate Biopsy #008 (Sept 29, 2010)
  9. MRI-guided Transperineal Prostate Biopsy #009 (Nov 10, 2010)
  10. MRI-guided Transperineal Prostate Biopsy #010 (Dec 15, 2010)

2011

  1. MRI-guided Transperineal Prostate Biopsy #011 (Jan 5, 2011)
  2. MRI-guided Transperineal Prostate Biopsy #012 (Mar 22, 2011) (no preop plan/registration)
  3. MRI-guided Transperineal Prostate Biopsy #013 (Apr 12, 2011)
  4. MRI-guided Transperineal Prostate Biopsy #014 (Apr 19, 2011)
  5. MRI-guided Transperineal Prostate Biopsy #015 (May 24, 2011)
  6. MRI-guided Transperineal Prostate Biopsy #016 (June 1, 2011)
  7. MRI-guided Transperineal Prostate Biopsy #017 (July 6, 2011)
  8. MRI-guided Transperineal Prostate Biopsy #018 (July 6, 2011)
  9. MRI-guided Transperineal Prostate Biopsy #019 (July 13, 2011)
  10. MRI-guided Transperineal Prostate Biopsy #020 (July 27, 2011)
  11. MRI-guided Transperineal Prostate Biopsy #021 (Aug 10, 2011)
  12. MRI-guided Transperineal Prostate Biopsy #022 (Aug 24, 2011)
  13. MRI-guided Transperineal Prostate Biopsy #023 (Sep 1, 2011) (AMIGO)
  14. MRI-guided Transperineal Prostate Biopsy #024 (Oct 4, 2011) (AMIGO)
  15. MRI-guided Transperineal Prostate Biopsy #025 (Nov 3, 2011) (AMIGO)
  16. MRI-guided Transperineal Prostate Biopsy #026 (Nov 8, 2011) (AMIGO)
  17. MRI-guided Transperineal Prostate Biopsy #027 (Dec 13, 2011) (AMIGO)

2012

MR-guided prostate biopsy

All cases performed in AMIGO Suite, unless noted otherwise

  1. MRI-guided Transperineal Prostate Biopsy #028 (Jan 3, 2012)
  2. MRI-guided Transperineal Prostate Biopsy #029 (Jan 3, 2012)
  3. MRI-guided Transperineal Prostate Biopsy #030 (Jan 31, 2012)
  4. MRI-guided Transperineal Prostate Biopsy #031 (Feb8, 2012)
  5. MRI-guided Transperineal Prostate Biopsy #032 (Feb 8, 2012)
  6. MRI-guided Transperineal Prostate Biopsy #033 (March 7, 2012)
  7. MRI-guided Transperineal Prostate Biopsy #034 (March 13, 2012)
  8. BxCase 35 (March 20, 2012)
  9. BxCase 36 (March 22, 2012)
  10. MRI-guided Transperineal Prostate Biopsy #037 (April 11, 2012)
  11. BxCase 38 (April 19, 2012)
  12. BxCase 39 (April 25, 2012)
  13. BxCase 40
  14. BxCase 41
  15. BxCase 42
  16. BxCase 43 (July 7, 2012)
  17. BxCase 44 (July 7, 2012)
  18. BxCase 45 (July 14, 2012)

MR-guided prostate biopsy using Smart Template

  1. MRI-guided Transperineal Prostate Biopsy Using Smart Template (September 26, 2012)
  2. MRI-guided Transperineal Prostate Biopsy Using Smart Template (October 1, 2012)

[[2]] [[3]]


MR-assisted/guided prostate brachytherapy

  1. PCAMRGBX-00063 / PCARMRUS-00019 Feb 28, 2013 U41:Prostate:BRP:MRUSGBrachy002

2014

MR-guided Robotic Prostate Biopsy

  1. MRI-guided Robotic Biopsy Dry-run (June 11, 2014)
  2. MRI-guided Robotic Biopsy #001 (June 11, 2014)
  3. MRI-guided Robotic Biopsy #002 (June 12, 2014)

2015

MR-guided Robotic Prostate Biopsy

  1. MRI-guided Robotic Biopsy #003 (May 6, 2015)
  2. MRI-guided Robotic Biopsy #004 (May 13, 2015)
  3. MRI-guided Robotic Biopsy #005 (May 14, 2015)
  4. MRI-guided Robotic Biopsy #006 (May 14, 2015)
  5. MRI-guided Robotic Biopsy #007 (May 14, 2015)
  6. MRI-guided Robotic Biopsy #008 (June 10, 2015)
  7. MRI-guided Robotic Biopsy #009 (June 10, 2015)
  8. MRI-guided Robotic Biopsy #010 (June 23, 2015)
  9. MRI-guided Robotic Biopsy #011 (June 25, 2015)
  10. MRI-guided Robotic Biopsy #012 (June 25, 2015)
  11. MRI-guided Robotic Biopsy #013 (July 8, 2015)
  12. MRI-guided Robotic Biopsy #014 (July 14 2015)
  13. MRI-guided Robotic Biopsy #015 (July 16 2015)

NOTE: The case number includes the first two cases performed last year.

MANUALS

MRI-guided Prostate Cryoablation using template

MRI-guided Biopsy using template

MRI-guided Biopsy using SmartTemplate

MRI-guided Biopsy using BRP Robot

Software Checklist

Ultrasound image acquisition and processing


MICCAI 2008

Robot Project

Slicer Prostate Module

Needle Artifact

OTHER




PEOPLE

BWH:


Queen's

JHU:

Burdette Medical Inc.



TIME LINE, TASKS and MILESTONES

TIMETABLE PROPOSED
Aims Tasks Primary Person Y1 Y2 Y3 Y4 Y5
Aim 1: Robotic Assistant Basic Robot Fichtinger X X X X
Advanced Driver Fichtinger X X X X
Control and Guidance DiMaio X X X X
Aim 2: Modeling and Planning Seed tracking DiMaio X X X
Predictive deformation DiMaio X X X X
Inverse dose planning Haker X X X
Aim 3: System Integration Workflow design Tempany X X X X
System architecture Burdette X
Software implementation Burdette X X X X X
Aim 4: Clinical Evaluation Biopsy trial Tempany X X X
Brachytherapy trial Tempany X X X


Stated Milestones

YEAR 1

  • Design, Development Plan, Systems Requirements Specs for InterplantMR complete.

YEAR 2

  • Interface design between robot, MRI scanner, and InterplantMR complete.
  • Software coding standards and systems design descriptions complete.
  • Basic robotic assistant device tested.
  • Basic framework and components tested.

YEAR 3

  • Integrated system with basic biopsy capabilities tested.
  • Biopsy clinical trial starts.
  • Integrated system with brachytherapy capabilities tested.
  • Brachytherapy clinical trial starts.

YEAR 4

  • First biopsy cases reported.
  • Advanced robotic assistant device tested.
  • First brachytherapy cases reported.
  • Integrated system with more advanced biopsy capabilities enters trial.
  • Integrated system with more advanced brachytherapy capabilities trial.
  • Regulatory approval sought for basic device and system.

YEAR 5

  • System with full functionality (“deluxe” version) tested.
  • Fully functional biopsy and brachytherapy systems enters clinic.
  • First brachytherapy outcome data reported.
  • Clinical trials proceed.
  • FDA 510K commercialization approval for basic device and system.


Workstatements



RELATED PUBLICATIONS

  • Posters (from Admetc conf 2007)



  • NCIGT Workshop 2013 Talk
    • Fedorov, Penzkofer, Tempany 3T MR-guided Prostate Interventions at Brigham and Women's Hospital PPT‎


[NOTE: Please use the following text to acknowledge NIH support: This publication was made possible by Grant Number R01CA111288 from NIH. Its contents are solely the responsibility of the authors and do not necessarily represent the official views of the NIH.]



FILES

Siemens MRI

Useful MRI Terms

  • Cross Vendor Lexicon
    • Useful for finding equivalent pulse sequences between GE, Philips, Siemens, Hitachi and Picker scanners.

Geometric Needle Models

Experiment Logs

Software Design Documents

Miscellaneous

Sentinelle Medical

CIRS

MAINTENANCE LOG

Smart Template

[calibration of zeroing position on Dec 14th]