Magnetic resonance imaging (MRI) possesses high soft tissue resolution and high sensitivity for the detection of tissue abnormalities. Robotic systems could allow for MRI guided intervention inside the confined space of MRI scanners to improve interventional procedures currently performed with different image guidance modalities. At present, the strong magnetic field, radio frequency (RF) noise sensitivity, and RF heating problems of MRI scanners limit the availability of MRI compatible tools, devices, and real-time three dimensional position tracking systems. The goal of this thesis is to develop new robotic manipulators and tracking systems capable of working inside the confined space of conventional high field MRI scanners to enable clinical MRI guided intervention.

This thesis reports advances in MRI guided robotic intervention, specifically for (1) percutaneous prostate intervention for research, detection, and therapy of prostate cancer and (2) MR elastography for breast cancer detection. Four generations of MRI guided prostate systems employing novel manipulator mechanics, software, and tracking systems were developed. To date, thirty nine patient procedures for prostate biopsy and marker placements were performed with the systems. Systems have been replicated to enable additional clinical studies at several separate sites using different MRI scanners and field strengths of 1.5 Tesla and 3 Tesla. Institutional review board (IRB) approvals have been granted at two clinical sites. Two additional clinical sites are presently pending IRB approval. The second advance in MRI guided robotic intervention—MR elastography for breast cancer detection—is addressed by the development and experimental validation of a compression device for MR elastography of the breast. The device received IRB approval for clinical usage. Volunteer studies in preparation for a clinical study are presently pending.