University of Twente Student Theses
An Interactive Approach to MRI-based Interventional Navigation
Kuijper, I.K. (2024) An Interactive Approach to MRI-based Interventional Navigation.
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| Abstract: | Magnetic resonance imaging (MRI) offers higher sensitivity in detecting invasive breast cancer, enabling the identification of lesions at earlier, more treatable stages. However, unlike ultrasound-guided biopsies, current MRI-guided biopsies lack real-time confirmation of lesion removal, necessitating multiple verification scans and follow-up MRI’s. Recent advanvements in real-time MRI imaging, with interactive imaging of a slice at up to 30Hz, present opportunities for MRI-safe manipulators by enabling closed-loop control through intraoperative imaging. This study proposes a methodology for closing the loop for the Sunram 7 pneumatically actuated breast biopsy robot using MR image feedback in-plane of the end-effector. By leveraging the segmented tip and base position with the planned needle path, an improved estimate of the needle’s position and orientaiton is achieved, potentially enhancing target accuracy. Features, such as automatic calibration between image frame and robot base frame, multi-planar reconstruction, path planning, and discretization optimization, provide essential support in the biopsy procedure. Proof-of-concept validation within the MRI-environment demonstrated a significant reduction in the mean euclidian position error, from 8.81 mm using sole feed-forward estimation to 1.11 mm with the proposed methodology, highlighting its potential to improve the targeting accuracy of the robot. The proposed methodology is novel in the fact that it automatically calibrates the robot based on the new estimation for direct control of the planned path. In conclusion, this methodology shows promising results in improving the positional accuracy of the Sunram 7 robot’s end-effector and warrants further validation for definitive implementation. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 30 exact sciences in general, 33 physics, 50 technical science in general, 52 mechanical engineering |
| Programme: | Robotics MSc (60973) |
| Link to this item: | https://purl.utwente.nl/essays/104452 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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