MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

Abstract

Abstract-This article introduces a robotic manipulator to realize robot-assisted intra-cardiac catheterization in magnetic resonance imaging (MRI) environment. MRI can offer highresolution images to visualize soft tissue features such as scars or edema. We hypothesize that robotic catheterization, combined with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety, accuracy and effectiveness. This is designed particularly for cardiac electrophysiological (EP) intervention, which is an effective treatment of arrhythmia. We present the first MR Safe robot for intra-cardiac EP intervention. The robot actuation features small hysteresis, effective force transmission and quick response, which has been experimentally verified for its capability to precisely tele-manipulate a standard clinically used EP catheter. We also present timely techniques for real-time positional tracking in MRI and intra-operative image registration, which can be integrated with the presented manipulator to improve the performance of tele-operated robotic catheterization.Index Terms-MR Safe robot, robot-assisted intervention, MR image registration, positional tracking in MRI.

MRI‐guided targeted needle placement during motion using hydrostatic actuators

“…Modifications can be made to extend our system to multiple DoF, such as remotely controlling the frame in X and Y using the same hydrostatic actuators. Recent studies have demonstrated the feasibility of multiple DoF prototypes using hydrostatic actuation; the extension of our system to multiple DoF will be a topic for further investigation. Another limitation is that in our study we only had two operators and n = 24 experiments during motion for each targeting method.…”

Localized online learning-based control of a soft redundant manipulator under variable loading

“…An example of this is under magnetic resonance imaging (MRI), where the strong magnetic field involved disallows any traditional robots. Towards MRI-guided robotic interventions [38], the integration of the proposed online learning algorithm and a soft robotic manipulator could enable safe and adaptive navigation in surgery.…”

Advanced Biological Imaging for Intracellular Micromanipulation: Methods and Applications

“…In other words, image sampling methods must be selected on the basis of several aspects, such as the size, morphology, distribution of specimens, imaging resolution, sampling speed and accessibility of the adopted instruments as well as their integration capability with other manipulation tools. For example, computer tomography (CT) and magnetic resonance imaging (MRI) are widely used in the visualization of bones, tissues, and organs, but they are unsuitable for imaging small-scaled specimens, such as cells and organelles [40,41].…”