Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation

Xu Xiao (Lead / Corresponding author), Zhihong Huang, Martin A. Rube, Andreas Melzer

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    6 Citations (Scopus)
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    Background: Focused ultrasound surgery (FUS) is a technique that does not need invasive access to the patient while allowing precise targeted therapy. Magnetic resonance (MR) guided FUS provides capabilities for monitoring treatments. Considering that the targeted tumours are distributed at different positions, focus repositioning becomes necessary.

    : We used an MR compatible robot to increase the operational range of FUS application. Active tracking was developed to detect the robotic arm in regards to the MR coordinate system. The purpose of this study was to construct active tracking to allow a wide spatial range of repositioning the FUS transducer that is fast and accurate. The technique was characterised and validated by a series of positioning tests to prove its efficiency for guiding the robot.

    Results: In the calibration range, the tracking could achieve an accuracy of RMS=0.63 mm. Results of phantom ablation showed a focal scanning precision of Δx=0.4±0.37 mm, Δy=0.4±0.28 mm and Δz=0.7±0.66 mm.

    Conclusions: The active tracking localisation can be considered as a feasible approach for the MR guided FUS system positioned by a robot.
    Original languageEnglish
    Article numbere1768
    JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
    Issue number3
    Early online date24 Aug 2016
    Publication statusPublished - 19 Sep 2017


    • active tracking
    • MR compatible robotic arm
    • MRI
    • focused ultrasound
    • MRgFUS


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