The Best Marker to Position the Arms of a Robotic Surgical Assistant in MRI

Document Type : Original Article(s)

Authors

1 Associate Professor, School of Biomedical Engineering Amir kKbir University of Technology, Tehran, Iran

2 School of Biomedical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

Abstract

Background: In this study, we tried to choose the proper material to use on a magnetic resonance imaging (MRI)-compatible robot. The robot is to take soft tissue samples in an image guided process. Since this robot is made of MRI-compatible material, its links are invisible in the MR images. Finding such markers would enable us to distinguish the position of links in the images and as a result in the real world.Methods: Four materials compatible with magnetic environments, including liquid paraffin, nitroglycerin, vitamin E pills, and silicon oil, were tested to find the most appropriate one to be used as the marker. In addition to compatibility with MRI environment, the material had to have suitable contrast to avoid blurry images. The tests were performed in a Philips MRI system at 1 and 1.5 Tesla.Findings: Liquid paraffin, nitroglycerin, vitamin E pills, and silicon oil scored 50, 62.35, 45.6, and 53.15, respectively. Most of the evaluated factors were satisfied by nitroglycerin.Conclusion: After all tests and considerations, nitroglycerin was selected as the best material. 

Keywords

References

  1. Weishaupt D, Köchli VD, Marincek B. How does MRI work?: an introduction to the physics and function of magnetic resonance imaging. New York, NY: Springer-Verlag Berlin Heidelberg; 2006.
  2. Davey RJ. A qualitative evaluation of visual Localization and the application to Robotics using artoolkit and the lego Nxt. Grahamstown, South Africa: Rhodes University; 2009.
  3. Peters TM. Image-guided surgery: from X-rays to virtual reality. Comput Methods Biomech Biomed Engin 2000; 4(1): 27-57.
  4. Morgan PS, Carter T, Davis S, Sepehri A, Punt J, Byrne P, et al. The application accuracy of the Pathfinder neurosurgical robot. International Congress Series 2003; 1256: 561-7.
  5. Woerdeman PA. Frameless image-guided neurosurgery in motion. Utrecht, Dutch: Utrecht University; 2008.
  6. Tokuda J, Fischer GS, DiMaio SP, Gobbi DG, Csoma C, Mewes PW, et al. Integrated navigation and control software system for MRI-guided robotic prostate interventions. Comput Med Imaging Graph 2010; 34(1): 3-8.
  7. Langen MD, Green S, Schlegel J. Patent application title: Fiducial Marker [Online]. [2008 Sep 25]; Available from: URL: http://www.faqs.org/patents/app/20080234532.
  8. Schicho K, Figl M, Seemann R, Donat M, Pretterklieber ML, Birkfellner W, et al. Comparison of laser surface scanning and fiducial marker-based registration in frameless stereotaxy. Technical note. J Neurosurg 2007; 106(4): 704-9.
  9. Kainz H, Bale R, Donnemiller E, Gabriel M, Kovacs P, Decristoforo C, et al. Image fusion analysis of 99m Tc-HYNIC-octreotide scintigraphy and CT/MRI in patients with thyroid-associated orbitopathy: the importance of the lacrimal gland. Eur J Nucl Med Mol Imaging 2003; 30(8): 1155-9.
  10. Huang-Hellinger FR, Breiter HC, McCormack G, Cohen MS, Kwong KK, Sutton JP, et al. Simultaneous functional magnetic resonance imaging and electrophysiological recording. Human Brain Mapping 1995; 3(1): 13-23.
  11. Wang MY, Maurer CR, Jr., Fitzpatrick JM, Maciunas RJ. An automatic technique for finding and localizing externally attached markers in CT and MR volume images of the head. IEEE Trans Biomed Eng 1996; 43(6): 627-37.
Journal of Isfahan Medical School
Volume 29, Issue 174 - Serial Number 174
November and December 2011
Pages 3186-3193

Files

History

  • Receive Date: 14 August 2011
  • Revise Date: 01 November 2024
  • Accept Date: 06 April 2022

Share

How to cite

Statistics