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Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation
Author(s) -
Xiao Xu,
Huang Zhihong,
Rube Martin A.,
Melzer Andreas
Publication year - 2017
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1768
Subject(s) - imaging phantom , magnetic resonance imaging , computer science , tracking (education) , robotic arm , focus (optics) , ablation , robot , ultrasound , calibration , transducer , biomedical engineering , computer vision , artificial intelligence , nuclear medicine , medicine , radiology , physics , acoustics , optics , psychology , pedagogy , quantum mechanics
Background Focused ultrasound surgery (FUS) is a technique that does not need invasive access to the patient while allowing precise targeted therapy. Magnetic resonance (MR) guided FUS provides capabilities for monitoring treatments. Because the targeted tumours are distributed at different positions, focus repositioning becomes necessary. Methods An MR compatible robot was used to increase the operational range of FUS application. Active tracking was developed to detect the robotic arm with regard to the MR coordinate system. The purpose of this study was to construct active tracking to allow a wide spatial range of repositioning the FUS transducer that is fast and accurate. The technique was characterised and validated by a series of positioning tests to prove its efficiency for guiding the robot. Results In the calibration range, tracking achieved an RMS accuracy of 0.63 mm. Results of phantom ablation showed a focal scanning precision Δ x = 0.4 ± 0.37 mm, Δ y = 0.4 ± 0.28 mm and Δ z = 0.7 ± 0.66 mm. Conclusions The active tracking localisation can be considered a feasible approach for the MR guided FUS system positioned by a robot. Copyright © 2016 John Wiley & Sons, Ltd.