University of Twente Student Theses
Real-time MRI-guided needle tracking for interventional procedures
Tai, Z.J. (2024) Real-time MRI-guided needle tracking for interventional procedures.
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| Abstract: | Traditional MRI-guided breast biopsies are often time-consuming and prone to errors due to manual manipulation. To overcome these challenges, the Sunram7 robotic system was developed for autonomous biopsy. However, the robotic system suffers from inaccurate needle positioning due to pneumatic stepper motor skipping. To address this, we developed a real-time MRI 2D slice plane control strategy algorithm. This algorithm provides the robotic system with visual feedback of the needle trajectory and breast deformation in an MRI environment. By utilizing three real-time 2D MRI slices, we accurately determined the needle tip position and orientation. This feedback enables the robotic system to dynamically adjust the needle trajectory, resulting in improved hit rates of target lesions. Experiments conducted in a controlled MRI environment demonstrated the effectiveness of our approach. The needle track algorithm achieved an average tip localization accuracy of 1.179 ± 0.385 mm. Moreover, biopsy times were significantly reduced to 13.5 ± 2.5 minutes, compared to the traditional method with an average duration of 38 minutes. Overall, our method showcases the potential of real-time feedback to enhance the precision and efficiency of robotic systems in interventional procedures. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 02 science and culture in general |
| Programme: | Robotics MSc (60973) |
| Link to this item: | https://purl.utwente.nl/essays/103871 |
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