MRI‐guided targeted needle placement during motion using hydrostatic actuators

• Published in: The international journal of medical robotics + computer assisted surgery Vol. 16; no. 2; pp. e2041 - n/a
• Main Authors: Mikaiel, Samantha, Simonelli, James, Li, Xinzhou, Lee, Yu‐Hsiu, Lee, Yong Seok, Sung, Kyunghyun, Lu, David S., Tsao, Tsu‐Chin, Wu, Holden H.
• Format: Journal Article
• Language: English
• Published: England Wiley Subscription Services, Inc 01.04.2020
• Subjects: Actuator systems; Actuators; Algorithms; Equipment Design; Feasibility studies; Humans; Image quality; Image‐guided interventions; Interventional MRI; Magnetic resonance imaging; Magnetic Resonance Imaging, Interventional - methods; Motion; Needles; Phantoms, Imaging; Placement; Reproducibility of Results; Respiration; Robotics; Signal-To-Noise Ratio; Surgery, Computer-Assisted - methods; Targeted needle placement; Interventional MRI; Actuator systems; Image-guided interventions; Targeted needle placement
• ISSN: 1478-5951; 1478-596X; 1478-596X
• DOI: 10.1002/rcs.2041

Background Magnetic resonance imaging (MRI) has unique advantages for guiding interventions, but the narrow space is a major challenge. This study evaluates the feasibility of a remote‐controlled hydrostatic actuator system for MRI‐guided targeted needle placement. Methods The effects of the hydrostatic actuator system on MR image quality were evaluated. Using a reference step‐and‐shoot method (SS) and the proposed actuator‐assisted method (AA), two operators performed MRI‐guided needle placement in targets (n = 12) in a motion phantom. Results The hydrostatic actuator system exhibited negligible impact on MR image quality. In dynamic targets, AA was significantly more accurate and precise than SS, with mean ± SD needle‐to‐target error of 1.8 ± 1.0 mm (operator 1) and 1.3 ± 0.5 mm (operator 2). AA reduced the insertion time by 50% to 80% and total procedure time by 25%, compared to SS. Conclusions The proposed hydrostatic actuator system may improve accuracy and reduce procedure time for MRI‐guided targeted needle placement during motion.