A Robotic Platform to Navigate MRI-guided Focused Ultrasound System

Dai, Jing; He, Zhuoliang; Fang, Ge; Wang, Xiaomei; Li, Yingqi; Cheung, Chim-Lee; Liang, Liyuan; Iordachita, Iulian; Chang, Hing‐Chiu; Kwok, Ka‐Wai

doi:10.1109/lra.2021.3068953

“…The two rectangular copper pads on the top side eased the replacement of the capacitor, which contributed to the adjustment of resonating frequency. In another study, Dai et al [177] demonstrated the feasibility of coilbased tracking to control and navigate the robot platform in an MRI-guided ultrasound system. In this design, wireless RF coils (6.7 mm × 1.5 mm) were attached to three tiny cylindrical glass tubes to amplify the local MR signal.…”

Section: B Coil Tracking For Closed-loop Position Controlmentioning

confidence: 99%

State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Su

¹

,

Kwok

²

,

Cleary

³

et al. 2022

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“…Previous research on MRI-tuned RF markers was focused only on the 3D localization and position tracking for MRI-guided medical tools [3][4][5][6][38][39][40][41][42][85][86][87][88][89][90] (see Table S1, Supporting Information). Therefore, the main design objective of these studies was to maximize the coupling between the RF marker and MRI's own RF coils by precisely tuning the marker to the operation frequency of the MRI scanner, ensuring RF coupling robustness against any external physical stimuli.…”

Section: Mri-tuned Rf Marker Design For Remote In Situ Temperature Se...mentioning

confidence: 99%

“…

attention in the medical robotics as a potential alternative to traditional 2D fluoroscopic imaging methods with the MRI's ionizing-radiation-free nature and 3D high-resolution soft tissue imaging capabilities. [1][2][3][4][5][6] By developing different MRI-based medical robot or device designs, such as MRI-compatible guide wires, [7,8] soft pneumatic actuators, [9,10] piezo actuators, [11,12] focused ultrasound (FUS) systems, [5,13,14] active catheters, [15,16] needle insertion systems, [4,17,18] and magnetic microrobots [19][20][21][22][23][24][25] and millirobots, [26][27][28][29] researchers have demonstrated promising interventional procedures, such as laser ablation, [30][31][32][33][34] local hyperthermia, [14,35,36] and FUS ablation. [13,34,37] The usage of MRI is mainly limited to the position tracking and the steering control of such medical robots or devices with fiducial markers based on radiofrequency (RF) markers, [3,

…”

mentioning

confidence: 99%

Radio Frequency Sensing‐Based In Situ Temperature Measurements during Magnetic Resonance Imaging Interventional Procedures

Bilgin

¹

,

Tiryaki

²

,

Lazović

³

et al. 2022

Adv Materials Technologies

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attention in the medical robotics as a potential alternative to traditional 2D fluoroscopic imaging methods with the MRI's ionizing-radiation-free nature and 3D high-resolution soft tissue imaging capabilities. [1][2][3][4][5][6] By developing different MRI-based medical robot or device designs, such as MRI-compatible guide wires, [7,8] soft pneumatic actuators, [9,10] piezo actuators, [11,12] focused ultrasound (FUS) systems, [5,13,14] active catheters, [15,16] needle insertion systems, [4,17,18] and magnetic microrobots [19][20][21][22][23][24][25] and millirobots, [26][27][28][29] researchers have demonstrated promising interventional procedures, such as laser ablation, [30][31][32][33][34] local hyperthermia, [14,35,36] and FUS ablation. [13,34,37] The usage of MRI is mainly limited to the position tracking and the steering control of such medical robots or devices with fiducial markers based on radiofrequency (RF) markers, [3,[38][39][40][41][42] magnetic markers, [43][44][45] and contrast agents. [46][47][48] One of the key challenges during many interventional MRI procedures is the risks associated with overheating, which threatens the safety of the patients. Numerous reports have been published concerning the heating of metallic components during the MR imaging; [49][50][51][52][53][54][55][56][57][58][59][60][61][62][63][64][65] therefore, a continuous in situ temperature monitoring is required for safe interventional MRI applications. MRI thermometry has been developed as an in situ temperature monitoring method. [66][67][68][69] Researchers have used MRI thermometry-based temperature feedback to control FUS hyperthermia operations [35,36,70] or to evaluate MRI-guided laser ablation therapies [6,31,71] and MRIguided active catheters. [72,73] While MRI thermometry methods can provide accurate in situ temperature mapping in 3D, they decrease the overall MRI-based visual feedback rate by adding an extra sequence, hindering the real-time MRI feedback. In a different approach, some researchers have proposed RFbased telemetric devices for measuring the in situ temperature remotely. [74][75][76][77][78] However, such methods have included sophisticated circuitries and metallic components that may distort MR images. [79][80][81] Therefore, a safe method for in situ temperature monitoring without decreasing the MRI feedback rate is highly desirable inside the interventional MR scanners.Previously, various RF marker designs have been reported; however, their main focus has been on device 3D tracking inside MRI. [3,[38][39][40][41][42] Recent studies explored new designs for ensuring functionality independent of the marker orientation. [82][83][84] Beyond tracking, a recent study used an RF marker design Magnetic resonance imaging (MRI)-tuned radio-frequency (RF) sensors are used as a radiation-free alternative for tracking minimally invasive medical tool positions. However, in situ temperature sensing capabilities of the MRI-tuned RF sensors have not been thoroughly investigated yet. A self-resonating RF sensor c...

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“…Therefore, there are numerous studies on developing MR‐compatible actuation techniques for device steering. [ 43 , 44 ] These approaches include using smart materials, [ 45 , 46 , 47 , 48 , 49 , 50 ] hydraulic, [ 51 , 52 ] pneumatic, [ 53 ] and MRI‐driven (magnetic) actuation. [ 54 , 55 ] Thermal actuation involves the use of current to induce forces and motion using thermally active materials that are highly responsive to changes in temperature, such as shape memory alloys (SMAs).…”

Section: Introductionmentioning

confidence: 99%

Heat‐Mitigated Design and Lorentz Force‐Based Steering of an MRI‐Driven Microcatheter toward Minimally Invasive Surgery

Phelan

¹

,

Tiryaki

²

,

Lazović

³

et al. 2022

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Catheters integrated with microcoils for electromagnetic steering under the high, uniform magnetic field within magnetic resonance (MR) scanners (3-7 Tesla) have enabled an alternative approach for active catheter operations. Achieving larger ranges of tip motion for Lorentz force-based steering have previously been dependent on using high power coupled with active cooling, bulkier catheter designs, or introducing additional microcoil sets along the catheter. This work proposes an alternative approach using a heat-mitigated design and actuation strategy for a magnetic resonance imaging (MRI)-driven microcatheter. A quad-configuration microcoil (QCM) design is introduced, allowing miniaturization of existing MRI-driven, Lorentz force-based catheters down to 1-mm diameters with minimal power consumption (0.44 W). Heating concerns are experimentally validated using noninvasive MRI thermometry. The Cosserat model is implemented within an MR scanner and results demonstrate a desired tip range up to 110°with 4°error. The QCM is used to validate the proposed model and power-optimized steering algorithm using an MRI-compatible neurovascular phantom and ex vivo kidney tissue. The power-optimized tip orientation controller conserves as much as 25% power regardless of the catheter's initial orientation. These results demonstrate the implementation of an MRI-driven, electromagnetic catheter steering platform for minimally invasive surgical applications without the need for camera feedback or manual advancement via guidewires. The incorporation of such system in clinics using the proposed design and actuation strategy can further improve the safety and reliability of future MRI-driven active catheter operations.

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A Robotic Platform to Navigate MRI-guided Focused Ultrasound System

Cited by 17 publications

References 32 publications

State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Radio Frequency Sensing‐Based In Situ Temperature Measurements during Magnetic Resonance Imaging Interventional Procedures

Heat‐Mitigated Design and Lorentz Force‐Based Steering of an MRI‐Driven Microcatheter toward Minimally Invasive Surgery

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