Simultaneous Endoscopy and MRI Acquisition

  • Hasnine A. Haque
  • Shigehiro Morikawa
  • Shigeyuki Naka
  • Yoshimasa Kurumi
  • Hiroyuki Murayama
  • Tohru Tani
  • Tetsuji Tsukamoto
Part of the Medical Radiology book series (MEDRAD)


An endoscope has been used to perform procedures with a laparoscope or thoracoscope in conventional operating rooms. One of the problems linked to endoscopic surgery is its narrow field of view and an inability to view the clinical target beneath the surface. Therefore, we propose an integrated environment where surgery can be performed with a magnetic resonance (MR)-compatible flexible endoscope in an MR scanner, and have developed a visualization system to navigate the endoscope for image-guided surgical procedures. In this system, MR images were used for the image guidance. An MR-compatible electromagnetic tracking sensor was used to track the endoscope tip. Augmented reality was achieved by fusion of the volume of interest and the real-time endoscope camera view. Real-time MR imaging helps to guide the needle to the target position accurately for the delivery of appropriate therapies. It might also improve the safety and efficacy of various percutaneous techniques such as radiofrequency and microwave liver tumor ablation.


Augmented Reality Flexible Endoscope Magnetic Resonance Scanner Augmented Reality System Optical Tracking System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



Two dimensional


Three dimensional


Augmented reality


Magnetic resonance


Magnetic resonance imaging


Magnetic resonance therapy


  1. Bajura M, Fuchs H, Ohbuchi R (1992) Merging virtual objects with the real world seeing ultrasound imagery within the patient. SIGGRAPH’92 Proc 26:203–210Google Scholar
  2. Cawood S, Fiala M (2008) Augmented reality a practical guide. Pragmatic Programmers, USAGoogle Scholar
  3. Darrow RD, Dumoulin CL, Souza SP (1996) US Patent 5,577,502Google Scholar
  4. De Poorter J, De Wagter C, De Deene Y et al (1995) Noninvasive MRI thermometry with the proton resonance frequency method: in vivo results in human muscle. Magn Reson Med 33:74–81PubMedCrossRefGoogle Scholar
  5. Fried M, Moharir V, Shinmoto H, Alyassin A, Lorensen W, Hsu L, Kikinis R (1998) Virtual laryngoscopy. Annal Otol Rhinol Laryngol 108(3):221–226Google Scholar
  6. Haque H, Morikawa S et al (2003) Software tools for interventional MR guided navigation for thermal ablation procedure. Med Imaging Tech 21(3):214–219Google Scholar
  7. Haque H, Morikawa S, Naka S, Tani T (2008) Interactive MR image guidance with a capability of motion compensation using two electromagnetic sensors. 22nd CARS symposium, SpainGoogle Scholar
  8. Hideaki H, Yahagihashi Y, Miyake Y (1995) A new method for distortion correction of electronic endoscope images. IEEE Trans Med Imaging 14(3):548–555CrossRefGoogle Scholar
  9. Hushek SG, Fetics B, Moser RM, Hoerter NF, Russell LJ, Roth A, Polenur D, Nevo E (2004) Initial clinical experience with a passive electromagnetic 3D locator system. Fifth interventional MRI symposium, BostonGoogle Scholar
  10. Hushek SG, Martin AJ, Steckner M et al (2008) MR systems for MRI-guided interventions. J Magn Reson Imaging 27:253–266PubMedCrossRefGoogle Scholar
  11. Jolesz F, Lorensen W, Shinmoto H, Atsumi H et al (1997) Interactive virtual endoscopy. Am J Roentgenol 169:1229–1235Google Scholar
  12. Kahn T, Harth T, Kiwit JCW et al (1998) In vivo MRI thermometry using phase sensitive sequence: preliminary experiences during MRI guided laser-included interstitial thermotherapy of brain tumors. J Magn Imaging 8:1660–1664Google Scholar
  13. Ladd ME, Quick HH, Debatin JF (2000) Interventional MRA and intravascular imaging. J Magn Reson Imaging 12(4):534–546PubMedCrossRefGoogle Scholar
  14. Lee S (2008) CUDA convolution. Electronic Visualization Laboratory, University of Illinois at Chicago.
  15. Marescaux J, Soler L, Rubino F (2005) Augmented reality for surgery and interventional therapy. Oper Tech Gen Surg 7(4):182–187CrossRefGoogle Scholar
  16. Martin AJ, van Vaals JJ, Hall WA, Liu H, Truwit CL (1998) Intra-operative MR monitored neurosurgery. Med Mundi 42:12–21Google Scholar
  17. Morikawa S, Inubushi T, Kurumi Y et al (2002) MR-guided microwave thermocoagulation therapy of liver tumor: initial clinical experiences using a 0.5 T open MR system. J Magn Reson Imaging 16:576–583PubMedCrossRefGoogle Scholar
  18. Morikawa S, Inubushi T, Kurumi Y, Naka S, Sato K, Tani T, Haque H et al (2003) Advanced computer assistance for magnetic resonance-guided microwave thermocoagulation therapy of liver tumors. Acad Radiol 10:1442–1449PubMedCrossRefGoogle Scholar
  19. Morikawa S, Inubushi T, Kurumi Y et al (2004) Feasibility of respiratory triggering for MR-guided microwave ablation of liver tumors under general anesthesia. Cardiovasc Interv Radiol 27(4):370–373CrossRefGoogle Scholar
  20. Reuben SM (2001) Image-guided surgery. Acad Radiol 8:819–821CrossRefGoogle Scholar
  21. Sato K, Morikawa S, Inubushi T, Haque H et al (2004) Interactive real-time MR image navigation assisted by a PC-based application tool, MRNavi. Fifth interventional MRI symposium, BostonGoogle Scholar
  22. Schenck JF, Jolesz FA, Roemer PB, Cline HE et al (1995) Superconducting open-configuration MR imaging system for image-guided therapy. Radiology 195:805–814PubMedGoogle Scholar
  23. Shreiner D (2010) The openGL programming guide, 7th edn. Addison-Wesley, ReadingGoogle Scholar
  24. Shuhaiber JH (2004) Augmented reality in surgery. Arch Surg 139(2):170–174PubMedCrossRefGoogle Scholar
  25. Stainsby JA, Hu N, Yi D, Radau P, Santos JM, Wright GA (2004) Improved visualization and control for scan plane navigation in real-time cardiac MRI. Proc Int Soc Mag Reson Med 11:537Google Scholar
  26. VolumePro® product of TeraRecon Foster City, CA. Accessed 24 Jun 2011

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Hasnine A. Haque
    • 1
  • Shigehiro Morikawa
    • 2
  • Shigeyuki Naka
    • 3
  • Yoshimasa Kurumi
    • 3
  • Hiroyuki Murayama
    • 3
  • Tohru Tani
    • 3
  • Tetsuji Tsukamoto
    • 3
  1. 1.Advanced Application CenterGE HealthcareTokyoJapan
  2. 2.Biomedical MR Science CenterShiga University of Medical ScienceOhtsuJapan
  3. 3.Department of SurgeryShiga University of Medical ScienceOhtsuJapan

Personalised recommendations