An Integrated Robotic System for MRI-Guided Neuroablation: Preclinical Evaluation

This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5[Formula: see text]mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0[Formula: see text]mm and 3.7[Formula: see text]mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system’s effectiveness and accuracy for MR image-guided prostate biopsy are underway.

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Development of a Master-Slave Robotic System for MRI-Guided Intracardiac Interventions

Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems ◽

10.1115/dscc2013-3936 ◽

2013 ◽

Cited By ~ 1

Author(s):

Amirhossein Salimi ◽

Amin Ramezanifar ◽

Javad Mohammadpour ◽

Karolos M. Grogoriadis

Keyword(s):

Magnetic Resonance Imaging ◽

Pid Control ◽

Control Design ◽

Robotic System ◽

Experimental Setup ◽

Resonance Imaging ◽

Parallel Platform ◽

Mri Guided ◽

Magnetic Resonance Imaging Mri ◽

Reference Trajectories

Restricted space inside the magnetic resonance imaging (MRI) scanner bore prevents surgeons to directly interact with the patient during MRI-guided procedures. This motivates the development of a robotic system that can act as an interface during those interventions. In this paper, we present a master-slave robotic system as a solution to the aforedescribed issue. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATH) designed to serve as the slave mechanism inside the scanner bore. We present in this paper the design principles for the platform, as well as the PID control design for the system. We use our experimental setup to evaluate the performance of the system by examining the effectiveness of the slave platform in tracking the reference trajectories generated by the master robot.

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68Ga-Sienna+ for PET-MRI Guided Sentinel Lymph Node Biopsy: Synthesis and Preclinical Evaluation in a Metastatic Breast Cancer Model

Nanotheranostics ◽

10.7150/ntno.34727 ◽

2019 ◽

Vol 3 (3) ◽

pp. 255-265

Author(s):

Heli Savolainen ◽

Alessia Volpe ◽

Alkystis Phinikaridou ◽

Michael Douek ◽

Gilbert Fruhwirth ◽

...

Keyword(s):

Breast Cancer ◽

Metastatic Breast Cancer ◽

Lymph Node ◽

Metastatic Breast ◽

Lymph Node Biopsy ◽

Cancer Model ◽

Preclinical Evaluation ◽

Node Biopsy ◽

Breast Cancer Model ◽

Mri Guided

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Design of a robotic system for MRI-guided deep brain stimulation electrode placement

2009 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.2009.5152343 ◽

2009 ◽

Cited By ~ 13

Author(s):

G. Cole ◽

J. Pilitsis ◽

G.S. Fischer

Keyword(s):

Deep Brain Stimulation ◽

Brain Stimulation ◽

Robotic System ◽

Electrode Placement ◽

Deep Brain Stimulation Electrode ◽

Mri Guided ◽

Stimulation Electrode ◽

Deep Brain

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Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

Volume 2: Biomedical and Biotechnology Engineering ◽

10.1115/imece2008-68302 ◽

2008 ◽

Author(s):

C. Raoufi ◽

A. A. Goldenberg ◽

W. Kucharczyk ◽

H. Hadian

Keyword(s):

Modular Design ◽

Brain Biopsy ◽

Inverse Kinematic ◽

Robotic System ◽

Control Architecture ◽

Neurosurgical Procedures ◽

Biopsy Needle ◽

Mri Guided ◽

Position And Orientation ◽

And Control

In this paper, the inverse kinematic and control paradigm of a novel tele-robotic system for MRI-guided interventions for closed-bore MRI-guided brain biopsy is presented. Other candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The control architecture is also reported. The design paradigm is fundamentally based on a modular design configuration of the slave manipulator that is performing tasks inside MR scanner. The tele-robotic system is a master-slave system. The master manipulator consists of three units including: (i) the navigation module; (ii) the biopsy module; and (iii) the surgical arm. Navigation and biopsy modules were designed to undertake the alignment and advancement of the surgical needle respectively. The biopsy needle is held and advanced by the biopsy module. The biopsy module is attached to the navigation module. All three units are held by a surgical arm. The main challenge in the control of the biopsy needle using the proposed navigation module is to adjust a surgical tool from its initial position and orientation to a final position and orientation. In a typical brain biopsy operation, the desired task is to align the biopsy needle with a target knowing the positions of both the target in the patient’s skull and the entry point on the surface of the skull. In this paper, the mechanical design, control paradigms, and inverse kinematics model of the robot are reported.

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Preliminary evaluation of a MRI-compatible modular robotic system for MRI-guided prostate interventions

2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics ◽

10.1109/biorob.2010.5626987 ◽

2010 ◽

Cited By ~ 7

Author(s):

Sang-Eun Song ◽

Nathan Cho ◽

Junichi Tokuda ◽

Nobuhiko Hata ◽

Clare Tempany ◽

...

Keyword(s):

Robotic System ◽

Preliminary Evaluation ◽

Mri Guided

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Preclinical evaluation of an integrated robotic system for magnetic resonance imaging guided shoulder arthrography

Journal of Medical Imaging ◽

10.1117/1.jmi.6.2.025006 ◽

2019 ◽

Vol 6 (02) ◽

pp. 1 ◽

Cited By ~ 3

Author(s):

Niravkumar Patel ◽

Jiawen Yan ◽

Reza Monfaredi ◽

Karun Sharma ◽

Kevin Cleary ◽

...

Keyword(s):

Magnetic Resonance Imaging ◽

Magnetic Resonance ◽

Robotic System ◽

Resonance Imaging ◽

Preclinical Evaluation ◽

Shoulder Arthrography

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Enhanced MRI-guided radiotherapy with gadolinium-based nanoparticles: preclinical evaluation with an MRI-linac

Cancer Nanotechnology ◽

10.1186/s12645-020-00065-5 ◽

2020 ◽

Vol 11 (1) ◽

Author(s):

H. L. Byrne ◽

G. Le Duc ◽

F. Lux ◽

O. Tillement ◽

N. M. Holmes ◽

...

Keyword(s):

Mr Imaging ◽

Radiation Treatment ◽

Cine Mri ◽

Clinical Workflow ◽

Nanoparticle Uptake ◽

Image Guided Radiotherapy ◽

Preclinical Evaluation ◽

Cine Mr ◽

Mri Guided ◽

Radiotherapy Treatment

Abstract Background The AGuIX® (NH TherAguix) nanoparticle has been developed to enhance radiotherapy treatment and provide strong MR contrast. These two properties have previously been investigated separately and progressed to clinical trial following a clinical workflow of separate MR imaging followed some time later by radiotherapy treatment. The recent development of MRI-linacs (combined Magnetic Resonance Imaging–linear accelerator systems enabling MRI-guided radiotherapy) opens up a new workflow where MR confirmation of nanoparticle uptake can be carried out at the time of treatment. A preclinical study was carried out to assess the suitability of a gadolinium-containing nanoparticle AGuIX® (NH TherAguix) for nano-enhanced image-guided radiotherapy on an MRI-linac. Methods Treatments were carried out on F344 Fischer rats bearing a 9L glioma brain tumour. Animals received either: (A) no treatment; (B) injection of nanoparticles followed by MRI; (C) radiotherapy with MRI; or (D) injection of nanoparticles followed by radiotherapy with MRI. Pre-clinical irradiations were carried out on the 1.0 T, 6 MV in-line Australian MRI-linac. Imaging used a custom head coil specially designed to minimise interference from the radiotherapy beam. Anaesthetised rats were not restrained during treatment but were monitored with a cine-MRI sequence. Inductively Coupled Plasma Mass Spectrometry (ICP-MS) analysis was used to quantify residual gadolinium in the brain in normal and tumour tissue. Results A preclinical evaluation of nano-enhanced radiation treatment has been carried out on a 1.0 T MRI-linac, establishing a workflow on these novel systems. Extension of life when combining radiotherapy with nanoparticles was not statistically different from that for rats receiving radiotherapy only. However, there was no detrimental effect for animals receiving nanoparticles and radiation treatment in the magnetic field compared with control branches. Cine-MR imaging was sufficient to carry out monitoring of anaesthetised animals during treatment. AGuIX nanoparticles demonstrated good positive contrast on the MRI-linac system allowing confirmation of tumour extent and nanoparticle uptake at the time of treatment. Conclusions Novel nano-enhanced radiotherapy with gadolinium-containing nanoparticles is ideally suited for implementation on an MRI-linac, allowing a workflow with time-of-treatment imaging. Live irradiations using this treatment workflow, carried out for the first time at the Australian MRI-linac, confirm the safety and feasibility of performing MRI-guided radiotherapy with AGuIX® nanoparticles. Follow-up studies are needed to demonstrate on an MRI-linac the radiation enhancement effects previously shown with conventional radiotherapy.

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