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

Xu Xiao; Zhihong Huang; Martin A. Rube; Andreas Melzer

doi:10.1002/rcs.1768

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

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

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Abstract

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.

Methods: 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 language	English
Article number	e1768
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
Volume	13
Issue number	3
Early online date	24 Aug 2016
DOIs	https://doi.org/10.1002/rcs.1768
Publication status	Published - 19 Sept 2017

Keywords

active tracking
MR compatible robotic arm
MRI
focused ultrasound
MRgFUS

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title = "Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation",

abstract = "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.Methods: 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.",

keywords = "active tracking, MR compatible robotic arm, MRI, focused ultrasound, MRgFUS",

author = "Xu Xiao and Zhihong Huang and Rube, {Martin A.} and Andreas Melzer",

note = "The China Scholarship Council (CSC) is thanked for the financial support of this work. The research leading to these results has also received funding from the European Union's Seventh Framework Programme under grant agreement no. 270186 (FUSIMO project) and no. 611963 (FUTURA project).",

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Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation. / Xiao, Xu (Lead / Corresponding author); Huang, Zhihong; Rube, Martin A. et al.
In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 13, No. 3, e1768, 19.09.2017.

Research output: Contribution to journal › Article › peer-review

TY - JOUR

T1 - Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation

AU - Xiao, Xu

AU - Huang, Zhihong

AU - Rube, Martin A.

AU - Melzer, Andreas

N1 - The China Scholarship Council (CSC) is thanked for the financial support of this work. The research leading to these results has also received funding from the European Union's Seventh Framework Programme under grant agreement no. 270186 (FUSIMO project) and no. 611963 (FUTURA project).

PY - 2017/9/19

Y1 - 2017/9/19

N2 - 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.Methods: 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.

AB - 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.Methods: 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.

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JF - International Journal of Medical Robotics and Computer Assisted Surgery

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

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