Design of an MRI-compatible robotic stereotactic device for minimally invasive interventions in the breast

The objective of this work was to develop a robotic device to perform biopsy and therapeutic interventions in the breast with real-time magnetic resonance imaging (MRI) guidance. The device was designed to allow for (i) stabilization of the breast by compression, (ii) definition of the interventional probe trajectory by setting the height and pitch of a probe insertion apparatus, and (iii) positioning of an interventional probe by setting the depth of insertion. The apparatus is fitted with five computer-controlled degrees of freedom for delivering an interventional procedure. The entire device is constructed of MR compatible materials, i.e. nonmagnetic and non-conductive, to eliminate artifacts and distortion of the MR images. The apparatus is remotely controlled by means of ultrasonic motors and a graphical user interface, providing real-time MR-guided planning and monitoring of the operation. Joint motion measurements found probe placement in less than 50 s and sub-millimeter repeatability of the probe tip for same-direction point-to-point movements. However, backlash in the rotation joint may incur probe tip positional errors of up to 5 mm at a distance of 40 mm from the rotation axis, which may occur for women with large breasts. The imprecision caused by this backlash becomes negligible as the probe tip nears the rotation axis. Real-time MR-guidance will allow the physician to correct this error Compatibility of the device within the MR environment was successfully tested on a 4 Tesla MR human scanner     

Deformation of the human brain induced by mild angular head acceleration

Deformation of the human brain was measured in tagged magnetic resonance images (MRI) obtained dynamically during angular acceleration of the head. This study was undertaken to provide quantitative experimental data to illuminate the mechanics of traumatic brain injury (TBI). Mild angular acceleration was imparted to the skull of a human volunteer inside an MR scanner, using a custom MR-compatible device to constrain motion. A grid of MR "tag" lines was applied to the MR images via spatial modulation of magnetization (SPAMM) in a fast gradient echo imaging sequence. Images of the moving brain were obtained dynamically by synchronizing the imaging process with the motion of the head. Deformation of the brain was characterized quantitatively via Lagrangian strain. Consistent patterns of radial-circumferential shear strain occur in the brain, similar to those observed in models of a viscoelastic gel cylinder subjected to angular acceleration. Strain fields in the brain, however, are clearly mediated by the effects of heterogeneity, divisions between regions of the brain (such as the central fissure and central sulcus) and the brain's tethering and suspension system, including the dura mater, falx cerebri, and tentorium membranes.     

PET iterative reconstruction incorporating an efficient positron range correction method

Positron range is one of the main physical effects limiting the spatial resolution of positron emission tomography (PET) images. If positrons travel inside a magnetic field, for instance inside a nuclear magnetic resonance (MR) tomograph, the mean range will be smaller but still significant. In this investigation we examined a method to correct for the positron range effect in iterative image reconstruction by including tissue-specific kernels in the forward projection operation. The correction method was implemented within STIR library (Software for Tomographic Image Reconstruction). In order to obtain the positron annihilation distribution of various radioactive isotopes in water and lung tissue, simulations were performed with the Monte Carlo package GATE [Jan et al. 2004 [1]] simulating different magnetic field intensities (0 T, 3 T, 9.5 T and 11 T) along the axial scanner direction. The positron range kernels were obtained for ⁶⁸Ga in water and lung tissue for 0 T and 3 T magnetic field voxellizing the annihilation coordinates into a three-dimensional matrix. The proposed method was evaluated using simulations of material-variant and material-invariant positron range corrections for the HYPERImage preclinical PET-MR scanner. The use of the correction resulted in sharper active region boundary definition, albeit with noise enhancement, and in the recovery of the true activity mean value of the hot regions. Moreover, in the case where a magnetic field is present, the correction accounts for the non-isotropy of the positron range effect, resulting in the recovery of resolution along the axial plane.     

Surface EMG pattern recognition for real-time control of a wrist exoskeleton

Background  

Surface electromyography (sEMG) signals have been used in numerous studies for the classification of hand gestures and movements and successfully implemented in the position control of different prosthetic hands for amputees. sEMG could also potentially be used for controlling wearable devices which could assist persons with reduced muscle mass, such as those suffering from sarcopenia. While using sEMG for position control, estimation of the intended torque of the user could also provide sufficient information for an effective force control of the hand prosthesis or assistive device. This paper presents the use of pattern recognition to estimate the torque applied by a human wrist and its real-time implementation to control a novel two degree of freedom wrist exoskeleton prototype (WEP), which was specifically developed for this work.     

Noninvasive tumor volume measurement using magnetic resonance (MR) imaging and an open sided saddle coil

A magnetic resonance (MR) imaging scanner operated at 0.5 T with a specially constructed receiving coil was used to measure volumes of primary spontaneous tumors in rats and guinea pigs. The coil was used to improve the signal to noise ratio (S/N) of the MR images of tumors in these small animals. The tumor volume was determined by the summation of the volume of contiguous slices or ellipsoid approximation. The accuracy of the volume measurement was better when the numerical integration was used in calculating the slice volume. The open sided saddle (OSS) coil used as the receiving coil gave better S/N than that of the standard head coil.     

Volumetric computed tomography (VCT): a new technology for noninvasive, high-resolution monitoring of tumor angiogenesis

Volumetric computed tomography (VCT) is a technology in which area detectors are used for imaging large volumes of a subject with isotropic imaging resolution. We are experimenting with a prototype VCT scanner that uses flat-panel X-ray detectors and is designed for high-resolution three-dimensional (3D) imaging. Using this technique, we have demonstrated microangiography of xeno-transplanted skin squamous cell carcinomas in nude mice. VCT shows the vessel architecture of tumors and animals with greater detail and plasticity than has previously been achieved, and is superior to contrast-enhanced magnetic resonance (MR) angiography. VCT and MR images correlate well for larger tumor vessels, which are tracked from their origin on 3D reconstructions of VCT images. When compared with histology, small tumor vessels with a diameter as small as 50 microm were clearly visualized. Furthermore, imaging small vessel networks inside the tumor tissue improved discrimination of vital and necrotic regions. Thus, VCT substantially improves imaging of vascularization in tumors and offers a promising tool for preclinical studies of tumor angiogenesis and antiangiogenic therapies.     

Prehensile control of a hand prosthesis by a microcontroller

The functional replacement of a natural hand and wrist is usually achieved by a split hook or an electrically powered and myoelectrically controlled artificial hand with one degree of freedom. In contrast to the commercial devices, this paper describes an experimental hand with four electric motors, nineteen sensors, and control algorithms which are written for a microcontroller. The hand significantly improves the prehension capabilities of an artificial device and leads to a design which is easily controlled by a user as it mimics the control system of the natural hand.     

A model of using magnetic resonance imaging in osteoarticular tumor lesion in case of giant cell tumors

Fifty-eight patients with giant cell tumors (GCT) underwent a comprehensive radiation diagnosis involving X-ray study and magnetic resonance imaging (MRI). The obtained MR images indicated the high efficiency of this combination of radiation diagnostic techniques in solving the problems in the visualization of osteoarticular tumor lesions. GCT is characterized by well-known primary X-ray semiotics; MR images are also rather pathognomonic of these tumors and they illustrate the process of morphogenesis of these masses. MRI made it possible to solve the specific problems facing a physician (a radiation diagnostician), to determine the site, shape, sizes, volume, and local extent of a tumor, which permitted the planning of surgical treatment policy; to assess its results, to reveal possible inflammatory complications; and to visualize a local recurrence and on-going growth of a tumor, including the signs of GCT malignancy.     

Model-based simulation of dynamic magnetic resonance imaging signals

This paper presents a model-based method to efficiently simulate dynamic magnetic resonance imaging signals. Using an analytical spatiotemporal object model, the method can approximate time-varying k-space signals such as those from objects in motion and/or during dynamic contrast enhancement. Both rigid-body and non-rigid-body motions can be simulated using the proposed method. In addition, it can simulate data with arbitrary data sampling order and/or non-uniform k-space trajectory. A set of simulated images were compared with real data acquired from a rat model on a 4.7 T scanner to verify the model. The efficient simulation method is expected to be useful for rapid testing of various imaging and image analysis algorithms such as image reconstruction, image registration, motion compensation, and kinetic parameter mapping.     

Targeting and cellular trafficking of magnetic nanoparticles for prostate cancer imaging

Antibody-conjugated iron oxide nanoparticles offer a specific and sensitive tool to enhance magnetic resonance (MR) images of both local and metastatic cancer. Prostate-specific membrane antigen (PSMA) is predominantly expressed on the neovasculature of solid tumors and on the surface of prostate cells, with enhanced expression following androgen deprivation therapy. Biotinylated anti-PSMA antibody was conjugated to streptavidin-labeled iron oxide nanoparticles and used in MR imaging and confocal laser scanning microscopic imaging studies using LNCaP prostate cancer cells. Labeled iron oxide nanoparticles are internalized by receptor-mediated endocytosis, which involves the formation of clathrin-coated vesicles. Endocytosed particles are not targeted to the Golgi apparatus for recycling but instead accumulate within lysosomes. In T(1)-weighted MR images, the signal enhancement owing to the magnetic particles was greater for cells with magnetic particles bound to the cell surface than for cells that internalized the particles. However, the location of the particles (surface vs internal) did not significantly alter their effect on T(2)-weighted images. Our findings indicate that targeting prostate cancer cells using PSMA offers a specific and sensitive technique for enhancing MR images.     

Physiological MR signal variations within the brain at 3 T.

The echoplanar technique in magnetic resonance (MR) imaging allows the acquisition of a series of images from a selected slice with a temporal resolution of 10/s. Simultaneous recording of physiological information on pulse and respiration allows correlation of the MR signal intensity with physiological signals, which can be obtained for each pixel examined. Such correlations can be found within the cerebrospinal fluid (CSF) spaces and within vessels if a flow-sensitive MR measurement technique is used. The use of an MR scanner with a field strength of 3 T improves the signal/noise ratio, but there is a stronger signal decay due to local magnetic inhomogeneities. This study shows that 3-T systems can be used for correlation of MR and physiological signals and that clear differentiation between signals from CSF and from vessels can be obtained due to their strongly different signal decays.     

Molecular aspects of magnetic resonance imaging and spectroscopy

Magnetic resonance imaging (MRI) is a well known diagnostic tool in radiology that produces unsurpassed images of the human body, in particular of soft tissue. However, the medical community is often not aware that MRI is an important yet limited segment of magnetic resonance (MR) or nuclear magnetic resonance (NMR) as this method is called in basic science. The tremendous morphological information of MR images sometimes conceal the fact that MR signals in general contain much more information, especially on processes on the molecular level. NMR is successfully used in physics, chemistry, and biology to explore and characterize chemical reactions, molecular conformations, biochemical pathways, solid state material, and many other applications that elucidate invisible characteristics of matter and tissue. In medical applications, knowledge of the molecular background of MRI and in particular MR spectroscopy (MRS) is an inevitable basis to understand molecular phenomenon leading to macroscopic effects visible in diagnostic images or spectra. This review shall provide the necessary background to comprehend molecular aspects of magnetic resonance applications in medicine. An introduction into the physical basics aims at an understanding of some of the molecular mechanisms without extended mathematical treatment. The MR typical terminology is explained such that reading of original MR publications could be facilitated for non-MR experts. Applications in MRI and MRS are intended to illustrate the consequences of molecular effects on images and spectra.     

Intravascular MR imaging and intravascular MR-guided interventions

Intravascular MR technology, using an intravascularly placed MR receiver probe to acquire high-resolution angiographic MR images (i.e. intravascular MR imaging) and to guide cardiovascular interventional therapies (i.e. intravascular MR-guided interventions), is a new, very attractive development in the field of MR imaging. The new technology offers unique advantages for cardiovascular imaging and interventions, including superior contrast capability and multiplanar imaging capabilities without the use of contrast agents and with no risk of ionizing radiation. Thecombination of intravascular MR techniques with other advanced MR imaging techniques, such as functional MR imaging, will open new avenues for the future comprehensive management of cardiovascular atherosclerotic disease. Further improvements in intravascular MR fluoroscopy with true real-time display, analogous to X-ray fluoroscopy, will dramatically establish the role of intravascular MR technology in modern medicine.     

Validation of radiocarpal joint contact models based on images from a clinical MRI scanner

This study was undertaken to assess magnetic resonance imaging (MRI)-based radiocarpal surface contact models of functional loading in a clinical MRI scanner for future in vivo studies, by comparison with experimental measures from three cadaver forearm specimens. Experimental data were acquired using a Tekscan sensor during simulated light grasp. Magnetic resonance (MR) images were used to obtain model geometry and kinematics (image registration). Peak contact pressures (PPs) and average contact pressures (APs), contact forces and contact areas were determined in the radiolunate and radioscaphoid joints. Contact area was also measured directly from MR images acquired with load and compared with model data. Based on the validation criteria (within 25% of experimental data), out of the six articulations (three specimens with two articulations each), two met the criterion for AP (0%, 14%); one for peak pressure (20%); one for contact force (5%); four for contact area with respect to experiment (8%, 13%, 19% and 23%), and three contact areas met the criterion with respect to direct measurements (14%, 21% and 21%). Absolute differences between model and experimental PPs were reasonably low (within 2.5 MPa). Overall, the results indicate that MRI-based models generated from 3T clinical MR scanner appear sufficient to obtain clinically relevant data.     

Boundary of the adiabatic motion of a charged particle in a dipole magnetic field

The motion of a charged particle in a dipole magnetic field is considered using a quasi-adiabatic model in which the particle guiding center trajectory is approximated by the central trajectory, i.e., a trajectory that passes through the center of the dipole. A study is made of the breakdown of adiabaticity in the particle motion as the adiabaticity parameter χ (the ratio of the Larmor radius to the radius of the magnetic field line curvature in the equatorial plane) increases. Initially, for χ?0.01, the magnetic moment μ of a charged particle undergoes reversible fluctuations, which can be eliminated by subtracting the particle drift velocity. For χ?0.1, the magnetic moment μ undergoes irreversible fluctuations, which grow exponentially with χ. Numerical integration of the equations of motion shows that, during the motion of a particle from the equatorial plane to the mirror point and back to the equator in a coordinate system related to the central trajectory, the analogue of the magnetic moment μ is conserved. In the equatorial plane, this analogue undergoes a jump. The long-term particle dynamics is described in a discrete manner, by approximating the Poincaré mapping. The existence of the regions of steady and stochastic particle motion is established, and the boundary between these regions is determined. The position of this boundary depends not only on the adiabaticity parameter χ but also on the pitch angle. The calculated boundary is found to agree well with that obtained previously by using the model of a resonant interaction between particle oscillations associated with different degrees of freedom.     

Design of a Robotized Magnetic Platform for Targeted Drug Delivery in the Cochlea

Inner ear disorders' treatment remains challenging due to anatomical barriers. Robotic assistance seems to be a promising approach to enhance inner ear treatments and, more particularly, lead to effective targeted drug delivery into the human cochlea. In this paper we present a combination of a micro-macro system that was designed and realized in order to efficiently control the navigation of magnetic nanoparticles in an open-loop scheme throughout the cochlea, considering that the magnetic particles cannot be located in real time.In order to respect the anatomical constraints, we established the characteristics that the new platform must present then proceeded to the design of the latter. The developed system is composed of a magnetic actuator that aims to guide nanoparticles into the cochlea. Mounted on a robotic manipulator, it ensures its positioning around the patient's head. The magnetic device integrates four parallelepiped-rectangle permanent magnets. Their arrangement in space, position and orientation, allows the creation of an area of convergence of magnetic forces where nanoparticles can be pushed/pulled to. To ensure the reachability of the desired orientations and positions, a 3 DOF robot based on a Remote Centre of Motion (RCM) mechanism was developed. It features three concurrent rotational joints that generate a spherical workspace around the head. The control of the latter is based on kinematic models.A prototype of this platform was realized to validate the actuation process. Both magnetic actuator and robotic manipulator were realized using an additive manufacturing approach. We also designed a virtual human head with a life-size cochlea inside. A laser was mounted on the end effector to track the positioning of the actuator. This permitted to experimentally prove the capacity of the robotic system to reach the desired positions and orientations in accordance with the medical needs.This promising robotic approach, makes it possible to overcome anatomical barriers and steer magnetic nanoparticles to a targeted location in the inner ear and, more precisely, inside the cochlea.     

Data distributions in magnetic resonance images: A review

Many image processing methods applied to magnetic resonance (MR) images directly or indirectly rely on prior knowledge of the statistical data distribution that characterizes the MR data. Also, data distributions are key in many parameter estimation problems and strongly relate to the accuracy and precision with which parameters can be estimated. This review paper provides an overview of the various distributions that occur when dealing with MR data, considering both single-coil and multiple-coil acquisition systems. The paper also summarizes how knowledge of the MR data distributions can be used to construct optimal parameter estimators and answers the question as to what precision may be achieved ultimately from a particular MR image.     

Possibility Study of Scale Invariant Feature Transform (SIFT) Algorithm Application to Spine Magnetic Resonance Imaging

The purpose of this study is an application of scale invariant feature transform (SIFT) algorithm to stitch the cervical-thoracic-lumbar (C-T-L) spine magnetic resonance (MR) images to provide a view of the entire spine in a single image. All MR images were acquired with fast spin echo (FSE) pulse sequence using two MR scanners (1.5 T and 3.0 T). The stitching procedures for each part of spine MR image were performed and implemented on a graphic user interface (GUI) configuration. Moreover, the stitching process is performed in two categories; manual point-to-point (mPTP) selection that performed by user specified corresponding matching points, and automated point-to-point (aPTP) selection that performed by SIFT algorithm. The stitched images using SIFT algorithm showed fine registered results and quantitatively acquired values also indicated little errors compared with commercially mounted stitching algorithm in MRI systems. Our study presented a preliminary validation of the SIFT algorithm application to MRI spine images, and the results indicated that the proposed approach can be performed well for the improvement of diagnosis. We believe that our approach can be helpful for the clinical application and extension of other medical imaging modalities for image stitching.     

Standardizing a protocol of magnetic resonance imaging of temporomandibular joints. Part 2. Unification of analysis of obtained data

The paper presents a unified protocol for analyzing the data obtained by magnetic resonance tomography, which has been used to examine 350 patients. It characterizes the MR semiotics of different pathological conditions of articular structures, which are illustrated by MR images. An optimal terminology is proposed for the evaluation of bone and soft tissue changes.     

In vivo diffusion-perfusion magnetic resonance imaging of acute cerebral ischemia.

We compared the anatomic extent and severity of ischemic brain injury shown on diffusion-weighted magnetic resonance (MR) images, with cerebral tissue perfusion deficits demonstrated by a nonionic intravascular T2*-shortening magnetic susceptibility contrast agent used in conjunction with standard T2-weighted spin-echo and gradient-echo echo-planar images. Diffusion-weighted images displayed increased signal intensity in the vascular territory of the middle cerebral artery 25-40 min after permanent occlusion, whereas T2-weighted images without contrast were negative or equivocal for at least 2-3 h after stroke was induced. Contrast-enhanced T2-weighted and echo-planar images revealed perfusion deficits that were spatially closely related to the anatomic regions of ischemic tissue injury. These data indicate that diffusion-weighted MR images are very sensitive to early onset pathophysiologic changes induced by acute cerebral ischemia. Combined sequential diffusion-perfusion imaging enables noninvasive in vivo examination of the relationship between hypoperfusion and evolving ischemic brain injury.