Surgical Planning Laboratory - Brigham & Women's Hospital - Boston, Massachusetts USA - a teaching affiliate of Harvard Medical School

Surgical Planning Laboratory

The Publication Database hosted by SPL

All Publications | Upload | Advanced Search | Gallery View | Download Statistics | Help | Import | Log in

Magnetic Resonance and Ultrasound Image-guided Navigation System using a Needle Manipulator

Institution:
1Department of Research and Development for Innovative Medical Devices and Systems, Shiga University of Medical Science, Otsu, Shiga, Japan.
2National Center for Image Guided Therapy, Brigham and Women's Hospital Harvard Medical School, Boston, MA, USA.
3Department of Surgery, Shiga University of Medical Science, Otsu, Shiga, Japan.
4Molecular Neuroscience Research Center, Shiga University of Medical Science, Otsu, Shiga, Japan.
Publisher:
Wiley
Publication Date:
Dec-2019
Journal:
Med Phys
Citation:
Med Phys. 2019 Dec 12.
PubMed ID:
31829440
Keywords:
image-guided therapy, liver ablation, magnetic resonance imaging, medical robot
Appears in Collections:
NCIGT, SPL
Sponsors:
26282145/JSPS KAKENHI/
18H01408/JSPS KAKENHI/
R01EB020667/GF/NIH HHS/United States
P41EB015898/GF/NIH HHS/United States
Generated Citation:
Yamada A., Tokuda J., Naka S., Murakami K., Tani T., Morikawa S. Magnetic Resonance and Ultrasound Image-guided Navigation System using a Needle Manipulator. Med Phys. 2019 Dec 12. PMID: 31829440.
Export citation:
Google Scholar: link

PURPOSE: Image guidance is crucial for percutaneous tumor ablations, enabling accurate needle-like applicator placement into target tumors while avoiding tissues that are sensitive to injury and/or correcting needle deflection. Although ultrasound (US) is widely used for image guidance, magnetic resonance (MR) is preferable due to its superior soft tissue contrast. The objective of this study was to develop and evaluate an MR and US multi-modal image-guided navigation system with a needle manipulator to enable US-guided applicator placement during MR imaging (MRI)-guided percutaneous tumor ablation. METHODS: The MRI-compatible needle manipulator with US probe was installed adjacent to a 3 Tesla MRI scanner patient table. Coordinate systems for the MR image, patient table, manipulator, and US probe were all registered using an optical tracking sensor. The patient was initially scanned in the MRI scanner bore for planning and then moved outside the bore for treatment. Needle insertion was guided by real-time US imaging fused with the reformatted static MR image to enhance soft tissue contrast. Feasibility, targeting accuracy, and MR compatibility of the system were evaluated using a bovine liver and agar phantoms. RESULTS: Targeting error for 50 needle insertions was 1.6 ± 0.6 mm (mean ± standard deviation). The experiment confirmed that fused MR and US images provided real-time needle localization against static MR images with soft tissue contrast. CONCLUSIONS: The proposed MR and US multi-modal image-guided navigation system using a needle manipulator enabled accurate needle insertion by taking advantage of static MR and real-time US images simultaneously. Real-time visualization helped determine needle depth, tissue monitoring surrounding the needle path, target organ shifts, and needle deviation from the path.