Dynamic MRI scan plane control for passive tracking of instruments and devices.

Area of Science:

• Medical Imaging
• Robotics
• Image-guided therapy

Background:

• Magnetic Resonance Imaging (MRI) offers advanced visualization for interventional procedures.
• Accurate tracking of robotic mechanisms and devices is crucial for MRI-guided interventions.

Purpose of the Study:

• To develop and evaluate a novel image-based method for tracking robotic mechanisms and interventional devices within MRI-guided procedures.
• To leverage MRI's multi-planar imaging for precise, passive motion tracking using fiducials.

Main Methods:

• An image-based tracking system was developed, utilizing MRI's multi-planar capabilities to image localizing fiducials.
• A servoed imaging system adaptively positions the scan plane via automatic fiducial detection and localization from the MRI image stream.
• The closed-loop control system is implemented on an open-source software framework and compatible with GE MRI scanners.

Main Results:

• Experimental evaluation demonstrated the accuracy and performance of the developed tracking method.
• The system successfully tracked robotic mechanisms and interventional devices in real-time during simulated procedures.
• The adaptive scan plane positioning based on fiducial tracking proved effective.

Conclusions:

• The novel image-based method provides accurate and reliable tracking of robotic and interventional devices during MRI-guided procedures.
• This approach enhances the safety and precision of minimally invasive interventions.
• The integration with open-source software and GE MRI scanners facilitates its clinical translation.