Skip to main content
SpringerLink
Log in

An Approach for Preoperative Planning and Performance of MR-guided Interventions Demonstrated With a Manual Manipulator in a 1.5T MRI Scanner

  • Clinical Investigation
  • Published:
CardioVascular and Interventional Radiology Aims and scope Submit manuscript

Abstract

Purpose

The aim of this work was to develop and test a general methodology for the planning and performance of robot-assisted, MR-guided interventions. This methodology also includes the employment of software tools with appropriately tailored routines to effectively exploit the capabilities of MRI and address the relevant spatial limitations.

Methods

The described methodology consists of: (1) patient-customized feasibility study that focuses on the geometric limitations imposed by the gantry, the robotic hardware, and interventional tools, as well as the patient; (2) stereotactic preoperative planning for initial positioning of the manipulator and alignment of its end-effector with a selected target; and (3) real-time, intraoperative tool tracking and monitoring of the actual intervention execution. Testing was performed inside a standard 1.5T MRI scanner in which the MR-compatible manipulator is deployed to provide the required access.

Results

A volunteer imaging study demonstrates the application of the feasibility stage. A phantom study on needle targeting is also presented, demonstrating the applicability and effectiveness of the proposed preoperative and intraoperative stages of the methodology. For this purpose, a manually actuated, MR-compatible robotic manipulation system was used to accurately acquire a prescribed target through alternative approaching paths.

Conclusions

The methodology presented and experimentally examined allows the effective performance of MR-guided interventions. It is suitable for, but not restricted to, needle-targeting applications assisted by a robotic manipulation system, which can be deployed inside a cylindrical scanner to provide the required access to the patient facilitating real-time guidance and monitoring.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4

Similar content being viewed by others

References

  1. Streitparth F, Gebauer B, Melcher I et al (2009) MR-guided laser ablation of osteoid osteoma in an open high-field system (1.0 T). Cardiovasc Intervent Radiol 32:320–325

    Article  PubMed  CAS  Google Scholar 

  2. Tsekos NV, Khanicheh A, Christoforou E, Mavroidis C (2007) Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study. Ann Rev Biomed Eng 9:351–387

    Article  CAS  Google Scholar 

  3. Keroglou C, Seimenis I, Tsekos NV et al. (2010) Consideration of geometric constraints regarding MR-compatible interventional robotic devices. In: Proceedings of 3rd IEEE/RAS-EMBS international conference on biomedical robotics and biomechatronics, Tokyo, Japan

  4. Wonneberger U, Schnackenburg B, Streitparth F et al (2010) Evaluation of magnetic resonance imaging-compatible needles and interactive sequences for musculoskeletal interventions using an open high-field magnetic resonance imaging scanner. Cardiovasc Intervent Radiol 33:346–351

    Article  PubMed  Google Scholar 

  5. Fischbach F, Bunke J, Thormann M et al (2011) MR-guided freehand biopsy of liver lesions with fast continuous imaging using a 1.0-T open MRI scanner: experience in 50 Patients. Cardiovasc Intervent Radiol 34:188–192

    Article  PubMed  Google Scholar 

  6. Hushek SG, Martin AJ, Steckner M et al (2008) MR systems for MR-guided interventions. J Magn Reson Imaging 27:253–266

    Article  PubMed  Google Scholar 

  7. Moche M, Trampel R, Kahn T et al (2008) Navigation concepts for MR image-guided interventions. J Magn Reson Imaging 27:276–291

    Article  PubMed  Google Scholar 

  8. Melzer A, Gutmann B, Remmele T et al (2008) INNOMOTION for percutaneous image-guided interventions: principles and evaluation of this MR- and CT-compatible robotic system. IEEE Eng Med Biol Mag 27:66–73

    Article  PubMed  Google Scholar 

  9. Moche M, Zajonz D, Kahn T et al (2010) MRI-guided procedures in various regions of the body using a robotic assistance system in a closed-bore scanner: preliminary clinical experience and limitations. J Magn Reson Imaging 31:964–974

    Article  PubMed  Google Scholar 

  10. Hata N, Tokuda J, Hurwitz S, Morikawa S (2008) MRI-compatible manipulator with remote-center-of-motion control. J Magn Reson Imaging 27:1130–1138

    Article  PubMed  Google Scholar 

  11. Sutherland GR, Latour I, Greer AD (2008) Integrating an image-guided robot with intraoperative MRI: a review of the design and construction of neuroArm. IEEE Eng Med Biol Mag 27:59–65

    Article  PubMed  Google Scholar 

  12. Weiss CR, Nour SG, Lewin JS (2008) MR-guided biopsy: a review of current techniques and applications. J Magn Reson Imaging 27(2):311–325

    Article  PubMed  Google Scholar 

  13. Graves MJ, Wakely S, Bearcroft PW et al (2008) MR-guided direct arthrography of the hip. J Magn Reson Imaging 28:462–465

    Article  PubMed  Google Scholar 

  14. Arepally A (2008) Targeted drug delivery under MRI guidance. J Magn Reson Imaging 27:292–298

    Article  PubMed  Google Scholar 

  15. Keroglou C, Tsekos NV, Seimenis I et al. (2009) Design of MR-compatible robotic devices: magnetic and geometric compatibility aspects. In Proceedings of 9th international conference on information technology and applications in biomedicine, Larnaca, Cyprus

  16. Kühn J-P, Langner S, Hegenscheid K et al (2010) Magnetic resonance-guided upper abdominal biopsies in a high-field wide-bore 3-T MRI system: feasibility, handling, and needle artefacts. Eur Radiol 20:2414–2421

    Article  PubMed  Google Scholar 

  17. Frahm C, Gehl H-B, Melchert UH et al (1996) Visualization of magnetic resonance-compatible needles at 1.5 and 0.2 Tesla. Cardiovasc Intervent Radiol 19:335–340

    Article  PubMed  CAS  Google Scholar 

  18. Jolesz FA, Nabavi A, Kikinis R (2001) Integration of interventional MRI with computer-assisted surgery. J Magn Reson Imaging 13:69–77

    Article  PubMed  CAS  Google Scholar 

  19. Gering DT, Nabavi A, Kikinis R et al (2001) An integrated visualization system for surgical planning and guidance using image fusion and an open MR. J Magn Reson Imaging 13:967–975

    Article  PubMed  CAS  Google Scholar 

  20. Fei B, Duerk JL, Boll DT et al (2003) Slice-to-volume registration and its potential application to interventional MRI-guided radio-frequency thermal ablation of prostate cancer. IEEE Trans Med Imaging 22:515–525

    Article  PubMed  Google Scholar 

  21. Tang AM, Kacher DF, Lam EY et al (2008) Simultaneous ultrasound and MRI system for breast biopsy: compatibility assessment and demonstration in a dual modality phantom. IEEE Trans Med Imaging 27:247–254

    Article  PubMed  Google Scholar 

  22. Wacker FK, Vogt S, Khamene A et al (2006) An augmented reality system for MR image-guided needle biopsy: initial results in a swine model. Radiology 238:497–504

    Article  PubMed  Google Scholar 

  23. Susil RC, Camphausen K, Choyke P et al (2004) System for prostate brachytherapy and biopsy in a standard 1.5 T MRI scanner. Magn Reson Med 52:683–687

    Article  PubMed  Google Scholar 

  24. Christoforou E, Akbudak E, Ozcan A et al (2007) Performance of interventions with manipulator-driven real-time MR-guidance: Implementation and initial in vitro tests. Magn Reson Imaging 25:69–77

    Article  PubMed  Google Scholar 

  25. Abolhassani N, Patel R, Moallem M (2007) Needle insertion into soft tissue: a survey. Med Eng Phys 29:413–431

    Article  PubMed  Google Scholar 

Download references

Acknowledgments

This work was supported by the Cyprus Research Promotion Foundation and the European Regional Development Fund (grant TEXNOLOGIA/MHX/0308(BIE)/05). NVT acknowledges partial support by the National Science Foundation (NSF) award CNS-0932272.

Conflict of interest

The authors declare that they have no conflict of interest regarding the work presented in this article.

Author information

Authors and Affiliations

  1. Medical Diagnostic Center “Ayios Therissos”, Nicosia, Cyprus

    Ioannis Seimenis & Eleni Eracleous

  2. Medical Robotics Lab, Department of Computer Science, University of Huston, Houston, TX, USA

    Nikolaos V. Tsekos

  3. Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus

    Christoforos Keroglou & Constantinos Pitris

  4. KIOS Research Center, University of Cyprus, 75 Kallipoleos Avenue, 1678, Nicosia, Cyprus

    Eftychios G. Christoforou

Authors
  1. Ioannis Seimenis
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nikolaos V. Tsekos
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Christoforos Keroglou
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Eleni Eracleous
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Constantinos Pitris
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Eftychios G. Christoforou
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Eftychios G. Christoforou.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Seimenis, I., Tsekos, N.V., Keroglou, C. et al. An Approach for Preoperative Planning and Performance of MR-guided Interventions Demonstrated With a Manual Manipulator in a 1.5T MRI Scanner. Cardiovasc Intervent Radiol 35, 359–367 (2012). https://doi.org/10.1007/s00270-011-0147-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00270-011-0147-5

Keywords

Search

Navigation