MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

This paper introduces a robotic manipulator to realize robot-assisted intracardiac catheterization in magnetic resonance imaging (MRI) environment. MRI can offer high-resolution 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 intracardiac EP intervention. The robot actuation features small hysteresis, effective force transmission, and quick response, which has been experimentally verified for its capability to precisely telemanipulate a standard clinically used EP catheter. We also present timely techniques for real-time positional tracking in MRI and intraoperative image registration, which can be integrated with the presented manipulator to improve the performance of teleoperated robotic catheterization.

[1]  Wayne Luk,et al.  FPGA-based acceleration of MRI registration: an enabling technique for improving MRI-guided cardiac therapy , 2014, Journal of Cardiovascular Magnetic Resonance.

[2]  Ron Kikinis,et al.  MR Compatibility of Mechatronic Devices: Design Criteria , 1999, MICCAI.

[3]  R W Günther,et al.  Catheter visualization using locally induced, actively controlled field inhomogeneities , 1997, Magnetic resonance in medicine.

[4]  Jonathan S. Lewin,et al.  A brief review of hardware for catheter tracking in magnetic resonance imaging , 2001, Magnetic Resonance Materials in Physics, Biology and Medicine.

[5]  Su-Lin Lee,et al.  An efficient cardiac mapping strategy for radiofrequency catheter ablation with active learning , 2017, International Journal of Computer Assisted Radiology and Surgery.

[6]  D. Hill,et al.  Cardiac catheterisation guided by MRI in children and adults with congenital heart disease , 2003, The Lancet.

[7]  F. Morady Radio-frequency ablation as treatment for cardiac arrhythmias. , 1999, The New England journal of medicine.

[8]  Maggie Fung,et al.  Electroanatomic Mapping of the Left Ventricle in a Porcine Model of Chronic Myocardial Infarction With Magnetic Resonance–Based Catheter Tracking , 2008, Circulation.

[9]  J Clémenty,et al.  Spontaneous initiation of atrial fibrillation by ectopic beats originating in the pulmonary veins. , 1998, The New England journal of medicine.

[10]  Zion Tsz Ho Tse,et al.  An MR-Conditional High-Torque Pneumatic Stepper Motor for MRI-Guided and Robot-Assisted Intervention , 2014, Annals of Biomedical Engineering.

[11]  Ergin Atalar,et al.  Multifunctional interventional devices for MRI: A combined electrophysiology/MRI catheter , 2002, Magnetic resonance in medicine.

[12]  Wayne Luk,et al.  Abstract 18568: Interfacing Fast Multi-phase Cardiac Image Registration with MRI-based Catheter Tracking for MRI-guided Electrophysiological Ablative Procedures , 2014 .

[13]  A. Patriciu,et al.  A New Type of Motor: Pneumatic Step Motor , 2007, IEEE/ASME Transactions on Mechatronics.

[14]  Cengizhan Ozturk,et al.  Real‐time MRI guided atrial septal puncture and balloon septostomy in swine , 2006, Catheterization and cardiovascular interventions : official journal of the Society for Cardiac Angiography & Interventions.

[15]  Tom Vercauteren,et al.  Diffeomorphic demons: Efficient non-parametric image registration , 2009, NeuroImage.

[16]  Zion Tsz Ho Tse,et al.  Augmented Reality for Improving Catheterization in Magnetic Resonance Imaging-Guided Cardiac Electrophysiology Therapy , 2014 .

[17]  Nobuhiko Hata,et al.  Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy , 2015, IEEE/ASME Transactions on Mechatronics.

[18]  Burr Hall,et al.  Catheter Ablation for Paroxysmal Atrial Fibrillation: Segmental Pulmonary Vein Ostial Ablation Versus Left Atrial Ablation , 2003, Circulation.

[19]  John P. Whitney,et al.  A low-friction passive fluid transmission and fluid-tendon soft actuator , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Wayne Luk,et al.  Acceleration of real-time Proximity Query for dynamic active constraints , 2013, 2013 International Conference on Field-Programmable Technology (FPT).

[21]  Alireza Mehrtash,et al.  Real‐time active MR‐tracking of metallic stylets in MR‐guided radiation therapy , 2015, Magnetic resonance in medicine.

[22]  Patrick Degenaar,et al.  A Spatiotemporal Parallel Image Processing on FPGA for Augmented Vision System , 2007, SCSS.

[23]  Etienne Burdet,et al.  Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[24]  Dan Stoianovici,et al.  Multi-Imager Compatible, MR Safe, Remote Center of Motion Needle-Guide Robot , 2018, IEEE Transactions on Biomedical Engineering.

[25]  Kit-Hang Lee,et al.  Kinematic-model-free positional control for robot-assisted cardiac catheterization , 2016 .

[26]  FredMorady,et al.  Catheter Ablation for Paroxysmal Atrial Fibrillation , 2003 .

[27]  K Scheffler,et al.  Automatic slice positioning (ASP) for passive real‐time tracking of interventional devices using projection‐reconstruction imaging with echo‐dephasing (PRIDE) , 2009, Magnetic resonance in medicine.

[28]  Robert Darrow,et al.  Electro-Anatomic Mapping and Radio-Frequency Ablation of Porcine Left Atria and Atrio-Ventricular Nodes using Magnetic Resonance Catheter Tracking Short Title: Schmidt et al., MR-Tracked Left Atrial Mapping and RF Ablation , 2009 .

[29]  Tobias Schaeffter,et al.  In vivo safe catheter visualization and slice tracking using an optically detunable resonant marker , 2004, Magnetic resonance in medicine.