A novel, general‐purpose, MR‐compatible, manually actuated robotic manipulation system for minimally invasive interventions under direct MRI guidance

Performing minimally invasive interventions under direct MRI guidance offers significant advantages. Required accessibility to the patient inside the MRI scanner is fairly limited, and employment of robotic assistance has been proposed. The development of MR‐compatible robotic systems entails engineering challenges related to geometric constraints and the magnetic nature of the scanning environment.

[1]  C K Kuhl,et al.  MR imaging--guided large-core (14-gauge) needle biopsy of small lesions visible at breast MR imaging alone. , 2001, Radiology.

[2]  G.R. Sutherland,et al.  Integrating an Image-Guided Robot with Intraoperative MRI , 2008, IEEE Engineering in Medicine and Biology Magazine.

[3]  Thomas Kahn,et al.  MRI‐guided procedures in various regions of the body using a robotic assistance system in a closed‐bore scanner: Preliminary clinical experience and limitations , 2010, Journal of magnetic resonance imaging : JMRI.

[4]  C F Beaulieu,et al.  All-in-one magnetic resonance arthrography of the shoulder in a vertically open magnetic resonance unit , 2008, Acta radiologica.

[5]  Dan Stoianovici,et al.  AcuBot: a robot for radiological interventions , 2003, IEEE Trans. Robotics Autom..

[6]  Dominik Weishaupt,et al.  Real-time MR-guided joint puncture and arthrography: preliminary results , 1999, European Radiology.

[7]  S Trattnig,et al.  MR imaging-guided MR arthrography of the shoulder: clinical experience on a conventional closed high-field system. , 1999, AJR. American journal of roentgenology.

[8]  Alastair J. Martin,et al.  MR systems for MRI‐guided interventions , 2008, Journal of magnetic resonance imaging : JMRI.

[9]  Angelo Vanzulli,et al.  MR arthrography of the glenohumeral joint: modified posterior approach without imaging guidance. , 2007, Radiology.

[10]  Nikolaos V. Tsekos,et al.  Consideration of geometric constraints regarding MR-compatible interventional robotic devices , 2010, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[11]  Kotaro Yamakado,et al.  The targeting accuracy of subacromial injection to the shoulder: an arthrographic evaluation. , 2002, Arthroscopy : the journal of arthroscopic & related surgery : official publication of the Arthroscopy Association of North America and the International Arthroscopy Association.

[12]  L. Steinbach,et al.  Magnetic resonance arthrography. , 2009, Radiologic clinics of North America.

[13]  Nobuhiko Hata,et al.  MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study , 2000, MICCAI.

[14]  Thomas Hambrock,et al.  Magnetic resonance imaging guided prostate biopsy in men with repeat negative biopsies and increased prostate specific antigen. , 2010, The Journal of urology.

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

[16]  Georg Rose,et al.  MR-compatible RF ablation system for online treatment monitoring using MR thermometry , 2010, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology.

[17]  Cengizhan Ozturk,et al.  Interventional MRI using multiple 3D angiography roadmaps with real‐time imaging , 2010, Journal of magnetic resonance imaging : JMRI.

[18]  B Gino Fallone,et al.  Characterization, prediction, and correction of geometric distortion in 3 T MR images. , 2007, Medical physics.

[19]  G. Schaefers,et al.  Testing MR Safety and Compatibility , 2008, IEEE Engineering in Medicine and Biology Magazine.

[20]  Hao Su,et al.  Real-time MRI-guided needle placement robot with integrated fiber optic force sensing , 2011, 2011 IEEE International Conference on Robotics and Automation.

[21]  Nikolaos V. Tsekos,et al.  An Approach for Preoperative Planning and Performance of MR-guided Interventions Demonstrated With a Manual Manipulator in a 1.5T MRI Scanner , 2012, CardioVascular and Interventional Radiology.

[22]  Nikolaos V. Tsekos,et al.  Design and Testing of a Robotic System for mr Image-guided Interventions , 2006, J. Intell. Robotic Syst..

[23]  Aravind Arepally.  Targeted drug delivery under MRI guidance , 2008, Journal of magnetic resonance imaging : JMRI.

[24]  David Malfair,et al.  Therapeutic and diagnostic joint injections. , 2008, Radiologic clinics of North America.

[25]  Constantinos Mavroidis,et al.  Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study. , 2007, Annual review of biomedical engineering.

[26]  Clifford R Weiss,et al.  MR‐guided biopsy: A review of current techniques and applications , 2008, Journal of magnetic resonance imaging : JMRI.

[27]  Dan Stoianovici,et al.  Automatic Brachytherapy Seed Placement Under MRI Guidance , 2007, IEEE Transactions on Biomedical Engineering.

[28]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[29]  D Stoianovici,et al.  Multi‐imager compatible actuation principles in surgical robotics , 2005, The international journal of medical robotics + computer assisted surgery : MRCAS.

[30]  Zion Tsz Ho Tse,et al.  The case for MR‐compatible robotics: a review of the state of the art , 2008, The international journal of medical robotics + computer assisted surgery : MRCAS.

[31]  H. Choudur,et al.  Ultrasound‐guided gadolinium joint injections for magnetic resonance arthrography , 2011, Journal of clinical ultrasound : JCU.

[32]  Harish Kurup,et al.  Do we need radiological guidance for hip joint injections? , 2010, Acta orthopaedica Belgica.

[33]  J S Lewin,et al.  MR arthrography of the shoulder: rethinking traditional imaging procedures to meet the technical requirements of MR imaging guidance. , 1997, AJR. American journal of roentgenology.

[34]  Gabor Fichtinger,et al.  An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention , 2011, IEEE Transactions on Biomedical Engineering.

[35]  Christopher F Beaulieu,et al.  Interventional musculoskeletal procedures performed by using MR imaging guidance with a vertically open MR unit: assessment of techniques and applicability. , 2002, Radiology.

[36]  Nikolaos V Tsekos,et al.  Performance of interventions with manipulator-driven real-time MR guidance: implementation and initial in vitro tests. , 2007, Magnetic resonance imaging.

[37]  C. N. Coleman,et al.  System for prostate brachytherapy and biopsy in a standard 1.5 T MRI scanner , 2004, Magnetic resonance in medicine.

[38]  E. Burdet,et al.  Sensors for Applications in Magnetic Resonance Environments , 2008, IEEE/ASME Transactions on Mechatronics.

[39]  Gustav Andreisek,et al.  MR arthrography of the shoulder, hip, and wrist: evaluation of contrast dynamics and image quality with increasing injection-to-imaging time. , 2007, AJR. American journal of roentgenology.

[40]  Martin J. Graves,et al.  MR‐guided direct arthrography of the hip , 2008, Journal of magnetic resonance imaging : JMRI.

[41]  Hao Su,et al.  Approaches to creating and controlling motion in MRI , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[42]  Giovanni Simonetti,et al.  Diagnostic and therapeutic joint injections. , 2010, Seminars in interventional radiology.

[43]  Nikolaos V Tsekos,et al.  A prototype manipulator for magnetic resonance-guided interventions inside standard cylindrical magnetic resonance imaging scanners. , 2005, Journal of biomechanical engineering.

[44]  R Jantschke,et al.  Preparation, assistance and imaging protocols for robotically assisted MR and CT‐ based procedures , 2007, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[45]  M. Bock,et al.  INNOMOTION for Percutaneous Image-Guided Interventions , 2008, IEEE Engineering in Medicine and Biology Magazine.

[46]  H Iseki,et al.  Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery. , 1995, Journal of image guided surgery.

[47]  Hannu Sorvoja,et al.  Magnetic resonance imaging‐compatible, three‐degrees‐of‐freedom joystick for surgical robot , 2007, The international journal of medical robotics + computer assisted surgery : MRCAS.

[48]  Gabor Fichtinger,et al.  Design of a novel MRI compatible manipulator for image guided prostate interventions , 2005, IEEE Transactions on Biomedical Engineering.