An Integrated Robotic System for MRI-Guided Neuroablation: Preclinical Evaluation
| Autor: | Everette C. Burdette, Paulo A. W. G. Carvalho, Gang Li, Niravkumar Patel, Gregory S. Fischer, Julie G. Pilitsis, Tamas Heffter, Katie Y. Gandomi, Christopher J. Nycz, Radian Gondokaryono |
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| Rok vydání: | 2020 |
| Předmět: |
medicine.medical_specialty
Swine Computer science medicine.medical_treatment 0206 medical engineering Biomedical Engineering 02 engineering and technology Signal-To-Noise Ratio Article Tumor ablation Robotic Surgical Procedures Magnetic Resonance Thermal Imaging medicine Animals Humans medicine.diagnostic_test Therapeutic ultrasound Phantoms Imaging business.industry Robotics Magnetic resonance imaging Ablation Magnetic Resonance Imaging 020601 biomedical engineering Artificial intelligence Neurosurgery business human activities Biomedical engineering |
| Zdroj: | IEEE Trans Biomed Eng |
| ISSN: | 1558-2531 0018-9294 |
| DOI: | 10.1109/tbme.2020.2974583 |
| Popis: | Objective: Treatment of brain tumors requires high precision in order to ensure sufficient treatment while minimizing damage to surrounding healthy tissue. Ablation of such tumors using needle-based therapeutic ultrasound (NBTU) under real-time magnetic resonance imaging (MRI) can fulfill this need. However, the constrained space and strong magnetic field in the MRI bore restricts patient access limiting precise placement of the NBTU ablation tool. A surgical robot compatible with use inside the bore of an MRI scanner can alleviate these challenges. Methods: We present preclinical trials of a robotic system for NBTU ablation of brain tumors under real-time MRI guidance. The system comprises of an updated robotic manipulator and corresponding control electronics, the NBTU ablation system and applications for planning, navigation and monitoring of the system. Results: The robotic system had a mean translational and rotational accuracy of 1.39 $\pm$ 0.64 mm and 1.27 $\pm \;\text{0.56}^{\circ }$ in gelatin phantoms and 3.13 $\pm$ 1.41 mm and 5.58 $\pm \;\text{3.59}^{\circ }$ in 10 porcine trials while causing a maximum reduction in signal to noise ratio (SNR) of 10.3%. Conclusion: The integrated robotic system can place NBTU ablator at a desired target location in porcine brain and monitor the ablation in realtime via magnetic resonance thermal imaging (MRTI). Significance: Further optimization of this system could result in a clinically viable system for use in human trials for various diagnostic or therapeutic neurosurgical interventions. |
| Databáze: | OpenAIRE |
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