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Enabling In-Bore MRI-Guided Biopsies With Force Feedback.

Samuel Frishman, Ali Kight, Ileana Pirozzi

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    |January 25, 2020
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    Summary

    This study introduces a novel MRI-compatible hydraulic teleoperator for liver biopsies, enabling precise remote instrument control. The system offers high-fidelity haptic feedback, matching direct needle handling performance without compromising MRI quality.

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    Area of Science:

    • Medical Engineering
    • Robotics
    • Diagnostic Imaging

    Background:

    • Limited physical access to patient organs inside MRI scanners hinders real-time interventions.
    • Existing teleoperation systems are often incompatible with the MRI environment, lacking high-fidelity haptic feedback or deep-bore access.

    Purpose of the Study:

    • To develop and evaluate a passive, nearly frictionless, MRI-compatible hydraulic teleoperator for in-bore liver biopsies.
    • To assess the system's transparency, performance, and MRI compatibility.

    Main Methods:

    • Designed a novel MRI-compatible hydraulic teleoperator system.
    • Characterized system transparency by measuring force differences during manipulation.
    • Conducted a user study with mock needle biopsy tasks in laboratory and clinical settings.

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  • Performed MRI compatibility tests to evaluate signal-to-noise ratio.

    • Main Results:

    • The teleoperator demonstrated minimal force difference between input and output during realistic manipulation.
    • User study results showed remote operators performed equally well compared to direct needle handling.
    • MRI compatibility tests confirmed no reduction in signal-to-noise ratio with the device present.

    Conclusions:

    • The developed hydraulic teleoperator is a viable, MRI-compatible solution for remote interventions like liver biopsies.
    • The system provides high-fidelity haptic feedback and effective instrument control deep within the MRI bore.
    • This technology enhances the potential for real-time MRI-guided procedures.