MRI-Guided Robot-Assisted Prostate Biopsy with SmartTemplate

  • Mariana Bernardes - Brigham and Women’s Hospital and Harvard Medical School (mcostabernardesmatias@bwh.harvard.edu)
  • Junichi Tokuda - Brigham and Women’s Hospital and Harvard Medical School (tokuda@bwh.harvard.edu)

This tutorial demonstrates how to integrate a virtual version of the SmartTemplate robotic system with SlicerROS2 for planning and monitoring MRI-guided robot-assisted prostate biopsies.

Table of Contents

  1. Prerequisites
    • Required Files
    • Required Software
    • Hardware Requirements
    • Knowledge Prerequisites
  2. Overview
    • Clinical Context
    • Robot-Assisted Solution: SmartTemplate
    • What You’ll Do in This Tutorial
  3. SmartTemplate Robot
    • Kinematic Chain
    • Joint Definitions
  4. SmartTemplate Description Package
    • What is URDF?
    • Key URDF Files
    • Robot Registration
  5. SmartTemplate ROS2 Nodes
    • Virtual Template
    • World Pose Listener
  6. Tutorial Steps