MRI Robots for Needle-Based Interventions: Systems and Technology

Monfaredi, Reza; Cleary, Kevin; Sharma, Karun

doi:10.1007/s10439-018-2075-x

Cited by 73 publications

(46 citation statements)

References 84 publications

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“…Seifabadi et al reported a teleoperated needle steering robotic system for in-gantry prostate biopsy [9]. Monfaredi et al have reviewed thoroughly the state of the art MRI-guided needle intervention robots [10]. The abovementioned robots had been designed mainly for prostate biopsy.…”

Section: J Imaging 2018 4 X For Peer Review 2 Of 13mentioning

confidence: 99%

MRI Robot for Prostate Focal Laser Ablation: An Ex Vivo Study in Human Prostate

Seifabadi

et al. 2018

J. Imaging

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Purpose: A novel grid-template-mimicking MR-compatible robot was developed for in-gantry MRI-guided focal laser ablation of prostate cancer. Method: A substantially compact robot was designed and prototyped to meet in-gantry lithotomy ergonomics and allow for accommodation in the perineum. The controller software was reconfigured and integrated with the custom-designed navigation and multi-focal ablation software. Three experiments were conducted: (1) free space accuracy test; (2) phantom study under computed tomography (CT) guidance for image-guided accuracy test and overall workflow; and (3) magnetic resonance imaging (MRI)-guided focal laser ablation of an ex vivo prostate. The free space accuracy study included five targets that were selected across the workspace. The robot was then commanded five times to each target. The phantom study used a gel phantom made with color changing thermos-chromic ink, and four spherical metal fiducials were deployed with the robot. Then, laser ablation was applied, and the phantom was sliced for gross observation. For an MR-guided ex vivo test, a prostate from a donor who died of prostate cancer was obtained and multi-focally ablated using the system within the MRI gantry. The tissue was sliced after ablation for validation. Results: free-space accuracy was 0.38 ± 0.27 mm. The overall system targeting accuracy under CT guidance (including robot, registration, and insertion error) was 2.17 ± 0.47 mm. The planned ablation zone was successfully covered in both acrylamide gel phantom and in human prostate tissue. Conclusions: The new robot can accurately facilitate fiber targeting for MR-guided focal laser ablation of targetable prostate cancer.

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Section: J Imaging 2018 4 X For Peer Review 2 Of 13mentioning

confidence: 99%

MRI Robot for Prostate Focal Laser Ablation: An Ex Vivo Study in Human Prostate

Seifabadi

et al. 2018

J. Imaging

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“…Image-guided surgery is an emerging medical field, in which imaging modalities such as computed tomography (CT) or magnetic resonance imaging (MRI) are used to provide intraoperative guidance during minimally invasive procedures such as tissue biopsies or tumor destructions (Monfaredi et al, 2018). As the availability of hybrid intervention rooms for clinical routine advances (OR Manager, 2015), image guided procedures increasingly replace traditional surgery (Tsetis et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

“…Fluidic piston type actuators are promising as their working principle is inherently MR-and CT-compatible (Fischer et al, 2008;Yu et al, 2008) and they can be fabricated using polymers only. So far, the research community has predominantly favored pneumatic over hydraulic actuation (Monfaredi et al, 2018). Challenges associated with hydraulic actuation such as fluid leakage and friction losses are often cited as reasons to opt for pneumatic actuation.…”

Section: Introductionmentioning

confidence: 99%

Multi-material 3D printed hydraulic actuator for medical robots

Siegfarth

Pusch

Pfeil

et al. 2020

RPJ

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Purpose This study aims to investigate the potential of using polymer multi-material additive manufacturing (MMAM) to produce miniature hydraulic piston actuators combining rigid structures and flexible seals. Such actuators offer great potential for medical robots in X-ray and magnetic resonance environments, where conventional piston actuators cannot be used because of safety issues caused by metal components. Design/methodology/approach Hydraulic pistons with two different integrated flexible seal shapes are designed and manufactured using MMAM. Design 1 features a ring-shaped seal made from a flexible material that is printed on the surface of the rigid piston shaft. Design 2 appears identical from the outside, yet an axial opening in the piston shaft is added to enable self-reinforced sealing as fluid pressure increases. For both designs, samples with three different outer diameters are fabricated leading to a total of six different piston versions. The pistons are then evaluated regarding leakage, friction and durability. Findings Measurement results show that the friction force for Design 2 is lower than that of Design 1, making Design 2 more suitable for the intended application. None of the versions of Design 2 shows leakage for pressures up to 1.5 MPa. For Design 1, leak-tightness varies with the outer diameter, yet none of the versions is consistently leak-tight at 1.5 MPa. Furthermore, the results show that prolonged exposure to water decreases the durability of the flexible material significantly. The durability the authors observe may, however, be sufficient for short-term or single-use devices. Originality/value The authors investigate a novel design approach for hydraulic piston actuators based on MMAM. These actuators are of particular interest for patient-specific medical devices used in radiological interventions, where metal-free components are required to safely operate in X-ray and magnetic resonance environments. This study may serve as a basis for the development of new actuators, as it shows a feasible solution, yet pointing out critical aspects such as the influence of small geometry changes or material performance changes caused by water absorption.

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“…Over the last decade, significant research efforts have been made to address these challenges and to develop robotic systems that are compatible with the MRI environment. Literature reviews of MRI-guided robotic system can be found in [11], [12], [13]. In the aspects of mounting mechanisms, MRI-guided robotic systems could be classified in two categories: table-mounted and body-mounted.…”

Section: Introductionmentioning

confidence: 99%

Body-mounted robotic assistant for MRI-guided low back pain injection

Patel

Hagemeister

et al. 2019

Int J CARS

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Purpose-This paper presents the development of a body-mounted robotic assistant for magnetic resonance imaging (MRI)-guided low back pain injection. Our goal was to eliminate the radiation exposure of traditional X-ray guided procedures while enabling the exquisite image quality available under MRI. The robot is designed with a compact and lightweight profile that can be mounted directly on the patient's lower back via straps, thus minimizing the effect of patient motion by moving along with the patient. The robot was built with MR-Conditional materials and actuated with piezoelectric motors so it can operate inside the MRI scanner bore during imaging and therefore streamline the clinical workflow by utilizing intraoperative MR images. Methods-The robot is designed with a four degrees-of-freedom (DOF) parallel mechanism, stacking two identical Cartesian stages, to align the needle under intraoperative MRI-guidance. The system targeting accuracy was first evaluated in free space with an optical tracking system, and further assessed with a phantom study under live MRI-guidance. Qualitative imaging quality evaluation was performed on a human volunteer to assess the image quality degradation caused by the robotic assistant. Results-Free space positioning accuracy study demonstrated that the mean error of the tip position to be 0.51 ± 0.27mm and needle angle to be 0.70 ± 0.38°. MRI-guided phantom study indicated the mean errors of the target to be 1.70±0.21mm, entry point to be 1.53 ± 0.19mm, and needle angle to be 0.66 ±0.43°. Qualitative imaging quality evaluation validated that the image degradation caused by the robotic assistant in the lumbar spine anatomy is negligible. Conclusions-The study demonstrates that the proposed body-mounted robotic system is able to perform MRI-guided low back injection in a phantom study with sufficient accuracy and with minimal visible image degradation that should not affect the procedure.

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MRI Robots for Needle-Based Interventions: Systems and Technology

Cited by 73 publications

References 84 publications

MRI Robot for Prostate Focal Laser Ablation: An Ex Vivo Study in Human Prostate

MRI Robot for Prostate Focal Laser Ablation: An Ex Vivo Study in Human Prostate

Multi-material 3D printed hydraulic actuator for medical robots

Body-mounted robotic assistant for MRI-guided low back pain injection

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