A Magnetic-Resonance-Imaging-Compatible Remote Catheter Navigation System

A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a p...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2013-04, Vol.60 (4), p.899-905
Main Authors: Tavallaei, Mohammad Ali, Thakur, Yogesh, Haider, Syed, Drangova, Maria
Format: Article
Language:English
Subjects:
Accuracy
Cardiac Surgical Procedures - instrumentation
Cardiac Surgical Procedures - methods
Catheterization
Catheterization - instrumentation
Catheterization - methods
Catheters
Equipment Design
Humans
image-guided interventions
Magnetic resonance imaging
magnetic resonance imaging (MRI)
Magnetic Resonance Imaging - methods
Manipulators
master-slave
Motors
Navigation systems
Optical scanners
Phantoms, Imaging
piezoelectric actuators
real-time systems
remote navigation
Replicating
Replication
Robotics - instrumentation
Servomechanisms
Signal to noise ratio
Surgery, Computer-Assisted - instrumentation
Surgery, Computer-Assisted - methods
surgical robotics
telerobotics
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Description
Summary:A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a pair of optical encoders, and a custom embedded system relays the motions to a pair of ultrasonic motors. The ultrasonic motors drive the patient catheter (slave) within the MRI scanner, replicating the motion of the input catheter. The performance of the remote catheter navigation system was evaluated in terms of accuracy and delay of motion replication outside and within the bore of the magnet. While inside the scanner bore, motion accuracy was characterized during the acquisition of frequently used imaging sequences, including real-time gradient echo. The effect of the catheter navigation system on image signal-to-noise ratio (SNR) was also evaluated. The results show that the master-slave system has a maximum time delay of 41 ± 21 ms in replicating motion; an absolute value error of 2 ± 2° was measured for radial catheter motion replication over 360° and 1.0 ± 0.8 mm in axial catheter motion replication over 100 mm of travel. The worst-case SNR drop was observed to be 2.5%.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2012.2229709