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Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention
Zhefeng Huang1, Anthony L Gunderman1, Samuel E Wilcox1
1Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA, 30332, USA.
Annals of Biomedical Engineering
|April 18, 2024
Summary
This study introduces a novel MR-conditional robotic system for precise needle guidance in microwave ablation (MWA) for liver cancer (HCC). The robot significantly improves accuracy over manual methods, paving the way for enhanced cancer treatment.
Area of Science:
- Medical Robotics
- Image-Guided Therapy
- Hepatocellular Carcinoma Treatment
Background:
- Hepatocellular carcinoma (HCC) treatment using MR-guided microwave ablation (MWA) is effective for small tumors.
- Manual needle insertion limits workflow efficiency and accuracy in MWA procedures.
- Enhanced robotic guidance is needed to improve precision and outcomes in HCC ablation.
Purpose of the Study:
- To present a compact, body-mounted, MR-conditional robotic system for accurate needle guidance during MR-guided MWA.
- To demonstrate the feasibility and performance of the robotic system within a closed-bore MR scanner.
- To overcome the limitations of manual needle insertion in HCC treatment.
Main Methods:
- Development of a robotic platform with two stacked Cartesian XY stages for precise needle insertion control.
- Actuation via 3D-printed pneumatic turbines and MR-conditional bevel gear transmission.
- Integration of remote pneumatic valves and optical fibers for MR-conditional operation.
- Experimental validation through free-space needle insertion tests and MR-guided phantom studies.
Main Results:
- The robotic system achieved a low needle insertion error of 2.6 ± 1.3 mm at an 80 mm depth in free-space experiments.
- MR-guided phantom studies confirmed the system's MR-conditionality and accurate targeting capabilities.
- The compact, body-mounted design allows operation within closed-bore MR scanners.
Conclusions:
- The developed MR-conditional robotic system offers a viable solution for accurate needle guidance in MR-guided MWA for HCC.
- This technology has the potential to optimize workflow and improve treatment precision for liver cancer.
- Future research will focus on system optimization and in-vivo validation through animal trials.
