University of Twente Student Theses
Enhancing robotic precision in MRI-guided abdominal interventions using active tracking
Doets, Msc. M. (2025) Enhancing robotic precision in MRI-guided abdominal interventions using active tracking.
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| Abstract: | Early-stage cancer diagnosis improves survival rates, with biopsies being the primary method. MRI-guided biopsies enhance targeting of small liver lesions but face workflow inefficiencies, especially for dynamic abdominal targets. The use of a new developed Manipulator Arm for MRI (MAMRI), which is a pneumatic stepper motor driven six degree of freedom MR-safe robotic arm, is proposed to enhance the workflow and accuracy. MAMRI was integrated with active MRI tracking to improve accuracy, workflow and evaluate the kinematic performance. MAMRI features two interchangeable end-effectors for manual and motorized needle insertion. Performance evaluations showed successful needle location prediction and actuation with a mean accuracy of 2.83 ± 0.78 mm for static lesions. While static targeting was effective, dynamic performance requires improvement. This research represents an initial step toward real-time MRI active tracking using RF microcoils to enhance MAMRI’s precision and evaluate its performance. By improving targeting accuracy and clinical workflow, MAMRI could lead to better abdominal cancer diagnosis and patient outcomes. |
| Item Type: | Essay (Master) |
| Faculty: | TNW: Science and Technology |
| Subject: | 31 mathematics, 44 medicine, 50 technical science in general, 52 mechanical engineering |
| Programme: | Biomedical Engineering MSc (66226) |
| Link to this item: | https://purl.utwente.nl/essays/105353 |
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