Project Summary/Abstract
This project aims to develop a novel MRI-compatible robotic system with an integrated imaging coil array to
enable in-bore real-time interventional procedures, improve the targeting accuracy, shorten the pre-operative
path planning time, and intra-operative surgery time. Currently, neurosurgeons often use pre-operative MRI to
plan the path manually and place the instrument in the brain outside of the MRI room either manually using a
passive stereotactic frame, or by using non-MRI compatible robots such as ROSA¿. Performing neurosurgical
procedures using real-time MRI-guidance requires an enabling technology for in-bore interventions. Although an
MRI-compatible commercial device has been recently introduced, ClearPoint¿, for real-time MRI-guided
targeting, it is passive and thus requires time consuming manual adjustment. It is also not appropriate for multi-
target application as it is locally mounted on the skull. For tumor biopsy and ablation, path planning currently
requires the neurosurgeon to perform extensive manual preoperative planning which can require one hour or
more. Despite extensive pre-planning, intra-operative re-planning is sometimes required once the skull is
opened. Lastly, current imaging head coils have been designed specifically for diagnostic procedures,
encompassing the patient’s head and limiting access to the surgical area. Consequently, current procedures are
time-intensive, especially for multi-target procedures. There are no existing medical device technologies that can
address all the major neurosurgery challenges of: 1) lengthy blind procedure time for single-/multi-target
procedures, 2) limited brain access due to the MR imaging coil, and 3) extensive manual path planning. We
propose to develop an MRI-compatible and low-profile novel robotic system with embedded movable coil array
for real-time in-bore application featured with automatic path planning techniques. The specific aims of the
proposed research are to (1) Design, construct, and test an MRI-compatible robot with an automatic path planner,
(2) Develop an embedded MR coil array, and (3) Integrate the system components and evaluate the system
accuracy. The successful completion of the proposed project will provide the necessary technical feasibility and
workflow validation information to support development of clinically viable system for human trial in the next
phase.
