Integration and evaluation of a needle-positioning robot with volumetric microcomputed tomography image guidance for small animal stereotactic interventions

Waspe, Adam C.; McErlain, David D.; Pitelka, V.; Holdsworth, David W.; Lacefield, James C.; Fenster, Aaron

doi:10.1118/1.3312520

Cited by 10 publications

(7 citation statements)

References 43 publications

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“…Smaller, chronically implanted devices offer superior targeting accuracy compared to acutely inserted needle infusions (Ramadi et al, 2018). Emerging methods allow for more accurate stereotaxic surgery (100 mm to 10 mm resolution) (Blasiak et al, 2010;Li et al, 2013;Ramrath et al, 2008;Rangarajan et al, 2016;Scouten, 2019;Waspe et al, 2010). Methods for determining where to infuse boluses, however, rely on traditional empirical approaches (Barbash et al, 2013;Correia et al, 2017;Uney et al, 1988).…”

Section: Introductionmentioning

confidence: 99%

Computationally Guided Intracerebral Drug Delivery via Chronically Implanted Microdevices

et al. 2020

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Section: Introductionmentioning

confidence: 99%

Computationally Guided Intracerebral Drug Delivery via Chronically Implanted Microdevices

et al. 2020

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“…The field of image‐guided robotic needle delivery in pre‐clinical animal models has grown over the past decade. Robotically assisted micro‐CT image‐guided out‐of‐bore and in‐bore needle placement devices with < 200 μ m mean accuracy have been successfully tested on mice. Despite this success, the level of soft tissue contrast achievable with MRI is not possible with CT, making MRI the preferred image modality for needle guidance in certain studies where soft tissue is being imaged (e.g., those requiring intracranial injections) .…”

Section: Introductionmentioning

confidence: 99%

An ultra‐high field strength MR image‐guided robotic needle delivery system for in‐bore small animal interventions

2017

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Purpose: The purpose of this study was to develop and validate an image-guided robotic needle delivery system for accurate and repeatable needle targeting procedures in mouse brains inside the 12 cm inner diameter gradient coil insert of a 9.4 T MR scanner. Many preclinical research techniques require the use of accurate needle deliveries to soft tissues, including brain tissue. Soft tissues are optimally visualized in MR images, which offer high-soft tissue contrast, as well as a range of unique imaging techniques, including functional, spectroscopy and thermal imaging, however, there are currently no solutions for delivering needles to small animal brains inside the bore of an ultrahigh field MR scanner. This paper describes the mechatronic design, evaluation of MR compatibility, registration technique, mechanical calibration, the quantitative validation of the in-bore image-guided needle targeting accuracy and repeatability, and demonstrated the system's ability to deliver needles in situ. Methods: Our six degree-of-freedom, MR compatible, mechatronic system was designed to fit inside the bore of a 9.4 T MR scanner and is actuated using a combination of piezoelectric and hydraulic mechanisms. The MR compatibility and targeting accuracy of the needle delivery system are evaluated to ensure that the system is precisely calibrated to perform the needle targeting procedures. A semi-automated image registration is performed to link the robot coordinates to the MR coordinate system. Soft tissue targets can be accurately localized in MR images, followed by automatic alignment of the needle trajectory to the target. Intra-procedure visualization of the needle target location and the needle were confirmed through MR images after needle insertion. Results: The effects of geometric distortions and signal noise were found to be below threshold that would have an impact on the accuracy of the system. The system was found to have negligible effect on the MR image signal noise and geometric distortion. The system was mechanically calibrated and the mean image-guided needle targeting and needle trajectory accuracies were quantified in an image-guided tissue mimicking phantom experiment to be 178 AE 54 lm and 0.27 AE 0.65°, respectively. Conclusions: An MR image-guided system for in-bore needle deliveries to soft tissue targets in small animal models has been developed. The results of the needle targeting accuracy experiments in phantoms indicate that this system has the potential to deliver needles to the smallest soft tissue structures relevant in preclinical studies, at a wide variety of needle trajectories. Future work in the form of a fully-automated needle driver with precise depth control would benefit this system in terms of its applicability to a wider range of animal models and organ targets.

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“…For example, mechatronic devices guided by micro-CT images have been developed to complete preclinical microinjection procedures. 6,7 These mechatronic devices may be required to achieve a needle-positioning error of <200 μm to reach small targets. 6 The needle-positioning error is an amalgamation of a number of error sources, including registration errors, calibration errors, mechanical robot errors, and image scaling error.…”

Section: Introductionmentioning

confidence: 99%

Traceable micro‐CT scaling accuracy phantom for applications requiring exact measurement of distances or volumes

Waring¹,

Bax²,

Samarabandu³

et al. 2012

Medical Physics

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Integration and evaluation of a needle-positioning robot with volumetric microcomputed tomography image guidance for small animal stereotactic interventions

Abstract: The integration of a robotic needle-positioning device with volumetric micro-CT image guidance should increase the accuracy and reduce the invasiveness of stereotactic needle interventions in small animals.

Cited by 10 publications

References 43 publications

Computationally Guided Intracerebral Drug Delivery via Chronically Implanted Microdevices

Computationally Guided Intracerebral Drug Delivery via Chronically Implanted Microdevices

An ultra‐high field strength MR image‐guided robotic needle delivery system for in‐bore small animal interventions

Traceable micro‐CT scaling accuracy phantom for applications requiring exact measurement of distances or volumes

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