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28. State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Author

Hao Su, Ka-Wai Kwok, Kevin Cleary, Iulian Iordachita, M. Cenk Cavusoglu, Jaydev P. Desai, and Gregory S. Fischer

Subjects
Electrical and Electronic Engineering
Abstract

Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target anatomy, surrounding tissue, and instrumentation, but there are significant challenges in harnessing it for effectively guiding interventional procedures. Challenges include the strong static magnetic field, rapidly switching magnetic field gradients, high-power radio frequency pulses, sensitivity to electrical noise, and constrained space to operate within the bore of the scanner. MRI has a number of advantages over other medical imaging modalities, including no ionizing radiation, excellent soft-tissue contrast that allows for visualization of tumors and other features that are not readily visible by other modalities, true 3-D imaging capabilities, including the ability to image arbitrary scan plane geometry or perform volumetric imaging, and capability for multimodality sensing, including diffusion, dynamic contrast, blood flow, blood oxygenation, temperature, and tracking of biomarkers. The use of robotic assistants within the MRI bore, alongside the patient during imaging, enables intraoperative MR imaging (iMRI) to guide a surgical intervention in a closed-loop fashion that can include tracking of tissue deformation and target motion, localization of instrumentation, and monitoring of therapy delivery. With the ever-expanding clinical use of MRI, MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately and effectively. Deploying robotic systems inside the bore synergizes the visual capability of MRI and the manipulation capability of robotic assistance, resulting in a closed-loop surgery architecture. This article details the challenges and history of robotic systems intended to operate in an MRI environment and outlines promising clinical applications and associated state-of-the-art MRI-compatible robotic systems and technology for making this possible.

Published
2022

31. Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing

Author

Adnan Munawar, Jie Ying Wu, Gregory S. Fischer, Russell H. Taylor, and Peter Kazanzides

Subjects
Human-Computer Interaction, Control and Optimization, Artificial Intelligence, Control and Systems Engineering, Mechanical Engineering, Biomedical Engineering, Computer Vision and Pattern Recognition, Computer Science Applications
Published
2022

35. 209 What Happens to Brain Outside the Thermal Ablation Zones? An Assessment of Needle-Based Therapeutic Ultrasound in Survival Swine

Author

Benjamin Szewczyk, Phillip Johansen, Matthew Tarasek, Zahabiya Campwala, Rachel Trowbridge, Zhanyue Zhao, Zachary T. Olmsted, Chitresh Bhushan, Eric Fiveland, Goutam Ghoushal, Tamas Heffter, Farid Tavakkolmoghaddam, Charles Bales, Yang Wang, Dhruv Kool Rajamani, Katie Gandomi, Christopher Nycz, Erin Jeannotte, Shweta Mane, Julia Nalwalk, Clif Burdette, Gregory S. Fischer, Desmond Yeo, Jiang Qian, and Julie G. Pilitsis

Subjects
Surgery, Neurology (clinical)
Published
2023

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