TY - JOUR
T1 - Performance of interventions with manipulator-driven real-time MR guidance
T2 - implementation and initial in vitro tests
AU - Christoforou, Eftychios
AU - Akbudak, Erbil
AU - Ozcan, Alpay
AU - Karanikolas, Menelaos
AU - Tsekos, Nikolaos V.
N1 - Funding Information:
This work was supported, in part, by National Institutes of Health grant RO1HL067924. The authors would also like to thank Dr. Sven Zuehlsdorff, Ph.D., for his help with the dynamic control of the imaging plane.
PY - 2007/1
Y1 - 2007/1
N2 - The purpose of this work was to implement and assess the performance of interventions inside a cylindrical magnetic resonance imaging (MRI) scanner with an MR-compatible manipulator system and manipulator-driven real-time MR guidance. The interventional system is based on a seven degree-of-freedom MR-compatible manipulator, which offers man-in-the-loop control either with a graphical user interface or with a master/slave device. The position and the orientation of the interventional tool are sent to an MR scanner for a manipulator-driven dynamic update of the imaging plane to track, visualize and guide the motion of an end-effector. Studies on phantoms were performed with a cylindrical 1.5-T scanner using an operator-managed triggered gradient-recalled echo (GRE) or a computer-managed dynamic True Fast Imaging with Steady Precession (TrueFISP). Targets were acquired with an accuracy of 3.2 mm and with an in-plane path orientation of 2.5° relative to the prescribed one. Path planning, including negotiation of obstacles and needle bending, was successfully performed. The signal-to-noise ratio (SNR) of TrueFISP was 25.3±2.1 when the manipulator was idle and was 18.6±2.4 during its operation. The SNR of triggered GRE (acquired only when the manipulator was idle) was 61.3±1.8. In conclusion, this study shows the feasibility of performing manually directed interventions inside cylindrical MR scanners with real-time MRI.
AB - The purpose of this work was to implement and assess the performance of interventions inside a cylindrical magnetic resonance imaging (MRI) scanner with an MR-compatible manipulator system and manipulator-driven real-time MR guidance. The interventional system is based on a seven degree-of-freedom MR-compatible manipulator, which offers man-in-the-loop control either with a graphical user interface or with a master/slave device. The position and the orientation of the interventional tool are sent to an MR scanner for a manipulator-driven dynamic update of the imaging plane to track, visualize and guide the motion of an end-effector. Studies on phantoms were performed with a cylindrical 1.5-T scanner using an operator-managed triggered gradient-recalled echo (GRE) or a computer-managed dynamic True Fast Imaging with Steady Precession (TrueFISP). Targets were acquired with an accuracy of 3.2 mm and with an in-plane path orientation of 2.5° relative to the prescribed one. Path planning, including negotiation of obstacles and needle bending, was successfully performed. The signal-to-noise ratio (SNR) of TrueFISP was 25.3±2.1 when the manipulator was idle and was 18.6±2.4 during its operation. The SNR of triggered GRE (acquired only when the manipulator was idle) was 61.3±1.8. In conclusion, this study shows the feasibility of performing manually directed interventions inside cylindrical MR scanners with real-time MRI.
KW - Dynamic control of scanning parameters
KW - Interventional MRI
KW - MR-compatible manipulators
KW - Manipulator-driven imaging
KW - Real-time MR guidance
UR - http://www.scopus.com/inward/record.url?scp=33846005871&partnerID=8YFLogxK
U2 - 10.1016/j.mri.2006.08.016
DO - 10.1016/j.mri.2006.08.016
M3 - Article
C2 - 17222717
AN - SCOPUS:33846005871
SN - 0730-725X
VL - 25
SP - 69
EP - 77
JO - Magnetic Resonance Imaging
JF - Magnetic Resonance Imaging
IS - 1
ER -