A mobile high-field magnetic resonance system for neurosurgery

Advancing neurosurgery with image-guided robotics

Robotic systems are being introduced into surgery to extend human ability. NeuroArm represents a potential change in the way surgery is performed; this is the first image-guided, MR-compatible surgical robot capable of both microsurgery and stereotaxy. This paper presents the first surgical application of neuroArm in an investigation of microsurgical performance, navigation accuracy, and Phase I clinical studies. To evaluate microsurgical performance, 2 surgeons performed microsurgery (splenectomy, bilateral nephrectomy, and thymectomy) in a rodent model using neuroArm and conventional techniques. Two senior residents served as controls, using the conventional technique only (8 rats were used in each of the 3 treatment groups; the 2 surgeons each treated 4 rats from each group). Total surgery time, blood loss, thermal injury, vascular injury, and animal death due to surgical error were recorded and converted to an overall performance score. All values are reported as the mean +/- SEM when normally distributed and as the median and interquartile range when not. Surgeons were slower using neuroArm (1047 +/- 69 seconds) than with conventional microsurgical techniques (814 +/- 54 seconds; p = 0.019), but overall performance was equal (neuroArm: 1110 +/- 82 seconds; microsurgery: 1075 +/- 136 seconds; p = 0.825). Using microsurgery, the surgeons had overall performance scores equal to those of the control resident surgeons (p = 0.141). To evaluate navigation accuracy, the localization error of neuroArm was compared with an established system. Nanoparticles were implanted at predetermined bilateral targets in a cadaveric model (4 specimens) using image guidance. The mean localization error of neuroArm (4.35 +/- 1.68 mm) proved equal to that of the conventional navigation system (10.4 +/- 2.79 mm; p = 0.104). Using the conventional system, the surgeon was forced to retract the biopsy tool to correct the angle of entry in 2 of 4 trials. To evaluate Phase I clinical integration, the role of neuroArm was progressively increased in 5 neurosurgical procedures. The impacts of neuroArm on operating room (OR) staff, hardware, software, and registration system performance were evaluated. NeuroArm was well received by OR staff and progressively integrated into patient cases, starting with draping in Case 1. In Case 2 and all subsequent cases, the robot was registered. It was used for tumor resection in Cases 3-5. Three incidents involving restrictive cable length, constrictive draping, and reregistration failure were resolved. In Case 5, the neuroArm safety system successfully mitigated a hardware failure. NeuroArm performs as well and as accurately as conventional techniques, with demonstrated safety technology. Clinical integration was well received by OR staff, and successful tumor resection validates the surgical applicability of neuroArm.

Clinical indications for high-field 1.5 T intraoperative magnetic resonance imaging and neuro-navigation for neurosurgical procedures. Review of initial 100 cases

Initial experiences are reviewed in an integrated operation theater equipped with an intraoperative high-field (1.5 T) magnetic resonance (MR) imager and neuro-navigation (BrainSUITE), to evaluate the indications and limitations. One hundred consecutive cases were treated, consisting of 38 gliomas, 49 other tumors, 11 cerebrovascular diseases, and 2 functional diseases. The feasibility and usefulness of the integrated theater were evaluated for individual diseases, focusing on whether intraoperative images (including diffusion tensor imaging) affected the surgical strategy. The extent of resection and outcomes in each histological category of brain tumors were examined. Intraoperative high-field MR imaging frequently affected or modified the surgical strategy in the glioma group (27/38 cases, 71.1%), but less in the other tumor group (13/49 cases, 26.5%). The surgical strategy was not modified in cerebrovascular or functional diseases, but the success of procedures and the absence of complications could be confirmed. In glioma surgery, subtotal or greater resection was achieved in 22 of the 31 patients (71%) excluding biopsies, and intraoperative images revealed tumor remnants resulting in the extension of resection in 21 of the 22 patients (95.4%), the highest rate of extension among all types of pathologies. The integrated neuro-navigation improved workflow. The best indication for intraoperative high-field MR imaging and integrated neuro-navigation is brain tumors, especially gliomas, and is supplementary in assuring quality in surgery for cerebrovascular or functional diseases. Immediate quality assurance is provided in several types of neurosurgical procedures.

Application of intraoperative high-field magnetic resonance imaging in pediatric neurosurgery

OBJECT

Over the past decade, the use of intraoperative MR (iMR) imaging in the pediatric neurosurgical population has become increasingly accepted as an innovative and important neurosurgical tool. The authors summarize their experience using a mobile 1.5-T iMR imaging unit with integrated neuronavigation with the goal of identifying procedures and/or pathologies in which the application of this technology changed the course of surgery or modified the operative strategy.

METHODS

A database has been prospectively maintained for this patient population. The authors reviewed the hospital charts and imaging results for all patients in the database. This review revealed 105 neurosurgical procedures performed in 98 children (49 male and 49 female) between March 1998 and April 2008. Intradissection (ID) and/or quality assurance images were obtained at the discretion of the surgeon.

RESULTS

The median age at surgery was 12 years (4 months-18 years). One hundred intracranial and 5 spinal procedures were performed; 22 of these procedures were performed for recurrent pathology. Surgical planning scans were obtained for 102 procedures, and neuronavigation was used in 93 patients. The greatest impact of iMR imaging was apparent in the 55 procedures to resect neoplastic lesions; ID scans were obtained in 49 of these procedures. Further surgery was performed in 49% of the procedures during which ID scans had been obtained. A smaller proportion of ID scans in the different cranial pathology groups (5 of 21 epilepsy cases, 4 of 9 vascular cases) resulted in further resections to meet the surgical goal of the surgeon. Two ID scans obtained during 5 procedures for the treatment of spinal disease did not lead to any change in surgery. Postoperative scans did not reveal any acute adverse events. There was 1 intraoperative adverse event in which a Greenberg retractor was inadvertently left on during ID scanning but was removed after the scout scans.

CONCLUSIONS

The application of iMR imaging in the pediatric neurosurgical population allows, at minimum, the opportunity to perform less invasive surgical exposures. Its potential is greatest when its high-quality imaging ability is coupled with its superior neuronavigation capabilities, which permits tracking of the extent of resection of intracranial tumors and, to a lesser extent, other lesions during the surgical procedure.

Reliability of intraoperative high-resolution 2D ultrasound as an alternative to high–field strength MR imaging for tumor resection control: a prospective comparative study

Object

Ultrasound may be a reliable but simpler alternative to intraoperative MR imaging (iMR imaging) for tumor resection control. However, its reliability in the detection of tumor remnants has not been definitely proven. The aim of the study was to compare high-field iMR imaging (1.5 T) and high-resolution 2D ultrasound in terms of tumor resection control.

Methods

A prospective comparative study of 26 consecutive patients was performed. The following parameters were compared: the existence of tumor remnants after presumed radical removal and the quality of the images. Tumor remnants were categorized as: detectable with both imaging modalities or visible only with 1 modality.

Results

Tumor remnants were detected in 21 cases (80.8%) with iMR imaging. All large remnants were demonstrated with both modalities, and their image quality was good. Two-dimensional ultrasound was not as effective in detecting remnants < 1 cm. Two remnants detected with iMR imaging were missed by ultrasound. In 2 cases suspicious signals visible only on ultrasound images were misinterpreted as remnants but turned out to be a blood clot and peritumoral parenchyma. The average time for acquisition of an ultrasound image was 2 minutes, whereas that for an iMR image was ~ 10 minutes. Neither modality resulted in any procedure-related complications or morbidity.

Conclusions

Intraoperative MR imaging is more precise in detecting small tumor remnants than 2D ultrasound. Nevertheless, the latter may be used as a less expensive and less time-consuming alternative that provides almost real-time feedback information. Its accuracy is highest in case of more confined, deeply located remnants. In cases of more superficially located remnants, its role is more limited.

Impact of intraoperative high-field magnetic resonance imaging guidance on glioma surgery: a prospective volumetric analysis

OBJECTIVE

To determine the impact of intraoperative magnetic resonance imaging (iMRI) on the decision to proceed with additional glioma resection during surgery and to maximize extent of resection (EOR).

METHODS

Patients who underwent craniotomy for glioma resection with high-field iMRI guidance were prospectively evaluated between September 2006 and August 2007. Volumetric analysis and EOR were assessed with iMRI, using postcontrast T1-weighted images for tumors showing contrast enhancement and T2-weighted images for nonenhancing tumors.

RESULTS

Forty-six patients underwent resection using iMRI guidance, with iMRI being used to evaluate the EOR in 44 patients and for reregistration in 2 patients. Surgery was terminated after iMRI in 23 patients (52%) because gross total resection was achieved or because of residual tumor infiltration in an eloquent brain region. Twenty-one patients (47%) underwent additional resection of residual tumor after iMRI. For enhancing gliomas, the median EOR increased significantly from 84% (range, 59%-97%) to 99% (range, 85%-100%) with additional tumor removal after iMRI (P < 0.001). For nonenhancing gliomas, the median EOR increased (from 63% to 80%) with additional tumor removal after iMRI, but not significantly, owing to the small sample size (7 patients). Overall, the EOR increased from 76% (range, 35%-97%) to 96% (range, 48%-100%) (P < 0.001). Gross total resection was achieved after additional tumor removal after iMRI in 15 of 21 patients (71%). Overall, 29 patients (65%) experienced gross total resection, and in 15 (52%), this was achieved with the contribution of iMRI.

CONCLUSION

High-field iMRI is a safe and reliable technique, and its use optimizes the extent of glioma resection.

TRANSSPHENOIDAL PITUITARY MACROADENOMAS RESECTION GUIDED BY POLESTAR N20 LOW-FIELD INTRAOPERATIVE MAGNETIC RESONANCE IMAGING

OBJECTIVE

To evaluate the applicability of low-field intraoperative magnetic resonance imaging (iMRI) during transsphenoidal surgery of pituitary macroadenomas.

METHODS

Fifty-five transsphenoidal surgeries were performed for macroadenomas (modified Hardy's Grade II–IV) resections. All of the surgical processes were guided by real-time updated contrast T1-weighted coronal and sagittal images, which were acquired with 0.15 Tesla PoleStar N20 iMRI (Medtronic Navigation, Louisville, CO). The definitive benefits as well as major drawbacks of low-field iMRI in transsphenoidal surgery were assessed with respect to intraoperative imaging, tumor resection control, comparison with early postoperative high-field magnetic resonance imaging, and follow-up outcomes.

RESULTS

Intraoperative imaging revealed residual tumor and guided extended tumor resection in 17 of 55 cases. As a result, the percentage of gross total removal of macroadenomas increased from 58.2% to 83.6%. The accuracy of imaging evaluation of low-field iMRI was 81.8%, compared with early postoperative high-field MRI (Correlation coefficient, 0.677; P &lt;0.001). A significantly lower accuracy was identified with low-field iMRI in 6 cases with cavernous sinus invasion (33.3%) in contrast to the 87.8% found with other sites (Fisher's exact test, P &lt;0.001).

CONCLUSION

The PoleStar N20 low-field iMRI navigation system is a promising tool for safe, minimally invasive, endonasal, transsphenoidal pituitary macroadenomas resection. It enables neurosurgeons to control the extent of tumor resection, particularly for suprasellar tumors, ensuring surgical accuracy and safety, and leading to a decreased likelihood of repeat surgeries. However, this technology is still not satisfying in estimating the amount of the parasellar residual tumor invading into cavernous sinus, given the false or uncertain images generated by low-field iMRI in this region, which are difficult to discriminate between tumor remnant and blood within the venous sinus.

Interventional magnetic resonance guidance of deep brain stimulator implantation for Parkinson disease

Deep brain stimulation is increasingly being applied to movement disorders, and other novel applications are emerging. The therapy requires precise localization of the stimulation electrode at specific target sites in deep brain structures. Conventional means of implantation rely on stereotactic approaches, which lack sufficient targeting accuracy and therefore are supported by invasive physiological mapping. We review the use of interventional magnetic resonance image guidance for the implantation of deep brain stimulator electrodes in patients with moderate to advanced Parkinson disease. The methodologies used in this innovative surgical technique are presented, along with the potential benefits and limitations of such an approach. Targeting accuracies are shown to be within approximately 1 mm of the intended deep brain structure and are achieved with a single brain penetration in most cases. Preliminary evaluation of clinical outcomes indicates comparable results to that achieved with conventional implantation methods, and the technique holds promise for substantially reducing operative durations.

Updating navigation with intraoperative image data

OBJECTIVES

To localize overlooked tumor remnants by updating navigation with intraoperative magnetic resonance imaging compensating for the effects of brain shift.

METHODS

In 112 patients among 805 patients that were investigated by combined use of intraoperative high-field (1.5 T) magnetic resonance imaging and navigation, mostly glioma cases (n = 85), an update of the navigation was performed. Intraoperative image data were rigidly registered with the preoperative image data, the tumor remnant was segmented, and then the initial patient registration was restored so that the registration coordinate system of the preoperative image data was applied on the intraoperative images, allowing navigation updating without intraoperative patient re-registration.

RESULTS

Navigation could be updated reliably in all cases. Potential positional shifting impairing the initial update strategy was observed only in 2 cases so that a patient re-registration was necessary. The target registration error of the initial patient registration was 1.33 +/- 0.63 mm, and registration of preoperative and intraoperative images could be performed with high accuracy, as proven by landmark checks. Updating of navigation resulted in increased resections or correction of a catheter position or biopsy sampling site in 94%. In the remaining 7 patients, the intraoperative images were used for correlation with the surgical site but without changing the surgical strategy.

CONCLUSIONS

Navigation can be reliably updated with intraoperative image data without repeated patient registration, facilitating the update procedure. Updated navigation allows achieving enlarged resections and compensates for the effects of brain shift.

Intraoperative 3T MR imaging for spinal cord tumor resection: feasibility, timing, and image quality using a "twin" MR-operating room suite

We assessed feasibility, safety, and timing of an original intraoperative MR procedure in 3 cases of resection of spinal cord glioma by using a clinical 3T MR system connected to an adjacent operating room in a design being coined "twin" or "dual" MR-operating room suite.

Comparison of navigated 3D ultrasound findings with histopathology in subsequent phases of glioblastoma resection

OBJECTIVE

The purpose of the study was to compare the ability of navigated 3D ultrasound to distinguish tumour and normal brain tissue at the tumour border zone in subsequent phases of resection.

MATERIALS AND METHODS

Biopsies were sampled in the tumour border zone as seen in the US images before and during surgery. After resection, biopsies were sampled in the resection cavity wall. Histopathology was compared with the surgeon's image findings.

RESULTS

Before resection, the tumour border was delineated by ultrasound with high specificity and sensitivity (both 95%). During resection, ultrasound had acceptable sensitivity (87%), but poor specificity (42%), due to biopsies falsely classified as tumour by the surgeon. After resection, sensitivity was poor (26%), due to tumour or infiltrated tissue in several biopsies deemed normal by ultrasound, but the specificity was acceptable (88%).

CONCLUSIONS

Our study shows that although glioblastomas are well delineated prior to resection, there seem to be overestimation of tumour tissue during resection. After resection tumour remnants and infiltrated brain tissue in the resection cavity wall may be undetected. We believe that the benefits of intraoperative ultrasound outweigh the shortcomings, but users of intraoperative ultrasound should keep the limitations shown in our study in mind.

An image-guided magnetic resonance-compatible surgical robot

OBJECTIVE

The past decade has witnessed the increasing application of robotics in surgery, yet there is no existing system that combines stereotaxy and microsurgery in an imaging environment. To fulfill this niche, we have designed and manufactured an image-guided robotic system that is compatible with magnetic resonance imaging.

METHODS

The system conveys the sight, touch, and sound of surgery to an operator seated at a remote workstation. Motion scaling, tremor filtering, and precision robotics allow surgeons to rapidly attain technical proficiency while working at a spatial resolution of 50 to 100 microm instead of a few millimeters. This system has the potential to shift surgery from the organ toward the cellular level.

RESULTS

By integrating the robot with images obtained during the procedure, the effects of surgery on both the lesion and brain are immediately revealed.

CONCLUSION

We are providing technology to advance and transform surgery with the potential to improve patient outcome.

MR systems for MRI-guided interventions

The field of MR imaging has grown from diagnosis via morphologic imaging to more sophisticated diagnosis via both physiologic and morphologic imaging and finally to the guidance and control of interventions. A wide variety of interventional procedures from open brain surgeries to noninvasive focused ultrasound ablations have been guided with MR and the differences between diagnostic and interventional MR imaging systems have motivated the creation of a new field within MR. This review discusses the various systems that research groups and vendors have designed to meet the requirements of interventional MR and suggest possible solutions to those requirements that have not yet been met. The common requirements created by MR imaging guidance of interventional procedures are reviewed and different imaging system designs will be independently considered. The motivation and history of the different designs are discussed and the ability of the designs to satisfy the requirements is analyzed.

Ceramic Aneurysm Clips

Objective:

To design and manufacture an aneurysm clip that incorporates ceramic jaws and a titanium spring, thereby decreasing susceptibility artifact at the aneurysm neck and allowing intra- and/or postoperative magnetic resonance (MR) evaluation.

Methods:

A series of aneurysm clips were developed using ceramic jaws and a titanium spring. A corresponding clip applicator with a novel clip-applicator interface was developed to improve ergonomics and visibility during clip placement or removal. Ceramic clips were imaged at 3.0 T in a kiwi fruit phantom model and compared with MR-compatible Yaşargil aneurysm clips (Aesculap, AG & Co., Tuttlingen, Germany). Ceramic clips were subsequently evaluated in a human cadaveric model at 1.5 T.

Results:

Ceramic clips were developed initially using silicon nitride ceramic and subsequently with yttria-stabilized zirconia ceramic. The ceramic clip jaws showed reduced susceptibility artifact compared with MR-compatible Yaşargil clips. Closing pressure was maintained over the course of 50 cycles of clip opening and closing. Aneurysm clip jaw crossing was not observed. The novel clip applicator and enhanced applicator-clip interface improved visibility during clip application and reduced the potential for torque during clip removal.

Conclusion:

The use of ceramic material limited MR imaging susceptibility artifact and image distortion in the area immediately surrounding the ceramic jaws. As expected, image distortion occurred around the titanium spring and pivot. However, in the unique design of this new aneurysm clip, the spring is located far enough from the distal end of the jaws to provide an undistorted image of the clipped area.

Advances in brain tumor surgery

Advances in the fields of molecular and translational research, oncology, and surgery have emboldened the medical community to believe that intrinsic brain tumors may be treatable. Intraoperative imaging and brain mapping allow operations adjacent to eloquent cortex and more radical resection of tumors with increased confidence and safety. Despite these advances, the infiltrating edge of a neoplasm and distant microscopic satellite lesions will never be amendable to a surgical cure. Indeed, it is continued research into the delivery of an efficacious chemobiologic agent that will eventually allows us to manage this primary cause of treatment failure.

World's first magnetic resonance imaging/x-ray/operating room suite: a significant milestone in the improvement of neurosurgical diagnosis and treatment

Object

In February 2006, the magnetic resonance/x-ray/operating room (MRXO) suite opened at the authors' institution. This is the first hybrid neurosurgical procedure suite to combine magnetic resonance (MR) imaging, computed tomography (CT), and angiography within a neurosurgical operating room (OR). In the present paper the authors describe the concept of the MRXO as well as their first 10 months of experience using this suite, and discuss its advantages and limitations.

Methods

In the MRXO suite, the combined OR and angiography (OR–angiography) station is located in the middle of the suite, and the MR imaging and CT scanning stations are each installed in an adjoining bay connected to the OR–angiography station by shielded sliding doors. The surgical, MR imaging, angiography, and CT tables are positioned in order of use. The patient lies on a fully MR imaging– and radiography-compatible mobile patient tabletop that is used to move the patient quickly and safely among the tables in the imaging and operating components of the MRXO suite.

Results

The authors performed all interventional procedures safely. The specially designed operating tabletop of the MRXO suite reduced the limitations on neurosurgeons during standard neurosurgical procedures. This hybrid suite helps to provide high-quality intraoperative imaging, greatly reducing the risk of unexpected events during the procedure.

Conclusions

The MRXO suite, which combines OR and imaging equipment, represents a significant milestone in the improvement of neurosurgical diagnosis and treatment and other interventional procedures. Another advantage of the MRXO suite is its cost-effectiveness, which is partly due to its streamlined imaging procedure.

SURGERY OF INTRINSIC CEREBRAL TUMORS

TUMORS AND OTHER structural lesions located with and adjacent to the cerebral cortex present certain challenges in terms of the overall management and design of surgical strategies. This comprehensive analysis attempts to define the current understanding of cerebral localization and function and includes the latest advances in functional imaging, as well as surgical technique, including localization of tumors and neurophysiological mapping to maximize extent of resection while minimizing morbidity. Finally, it remains to be seen whether or not stimulation mapping will be the most useful way to identify function within the cortex in the future. Another potential paradigm would be to actually record baseline oscillatory rhythms within the cortex and, following presentation of a given task, determine if those rhythms are disturbed enough to identify eloquent cortex as a means of functional localization. This would be a paradigm shift away from stimulation mapping, which currently deactivates the cortex, as opposed to identifying an activation function which identifies functional cortex.

Optically neuronavigated ultrasonography in an intraoperative magnetic resonance imaging environment

OBJECTIVE

To develop a clinically useful method that shows the corresponding planes of intraoperative two-dimensional ultrasonography and intraoperative magnetic resonance imaging (MRI) scans determined with an optical neuronavigator from an intraoperative three-dimensional MRI scan data set, and to determine the qualitative and the quantitative spatial correspondence between the ultrasonography and MRI scans.

METHODS

An ultrasound probe was interlinked with an ergonomic and MRI scan-compatible ultrasonography probe tracker to the optical neuronavigator used in a low-field intraoperative MRI scan environment for brain surgery. Spatial correspondence measurements were performed using a custom-made ultrasonography/MRI scan phantom. In this work, instruments to combine intraoperatively collected ultrasonography and MRI scan data with an optical localization method in a magnetic environment were developed. The ultrasonography transducer tracker played an important role. Furthermore, a phantom for ultrasonography and MRI scanning was produced. This is the first report, to our knowledge, regarding the possibility of combining the two most important intraoperative imaging modalities used in neurosurgery, ultrasonography and MRI scanning, to guide brain tumor surgery.

RESULTS

The method was feasible and, as shown in an illustrative surgical case, has direct clinical impact on image-guided brain surgery. The spatial deviation between the ultrasonography and the MRI scans was, on average, 1.90 +/- 1.30 mm at depths of 0 to 120 mm from the ultrasonography probe.

CONCLUSION

The overall result of this work is a unique method to guide the neurosurgical operation with neuronavigated ultrasonography imaging in an intraoperative MRI scanning environment. The relevance of the method is emphasized in minimally invasive neurosurgery.

Damper design for improving S/N ratio of the seismocardiogram monitoring in the OpenMRI-guided operating theater

The final goal of this study is to establish a method of measuring precisely the seismocardiogram (SCG) of a patient who lying in an open magnetic resonance imaging (openMRI) machine for myocardial ischemia monitoring during surgery. Vibration isolation from the gantry vibration during MRI scan is essential for clinical use. Authors previously reported the comparison between the SCG and the gantry vibration. A damper to decrease vibration below 30 Hz should be designed. In this paper, authors fabricated a damper model to check the feasibility of the damping effect, and compared with the patient bed mat. Experiment using a vibrator showed 1) the viscosity damping coefficient of the current damper was 2 kN s/m, 2) owing to the damper, peak ratio between input and output amplitude decreased from 2.5 to 1.2, and 3) natural frequency decreased from 12 Hz to 5 Hz. Damping below 30 Hz was successfully achieved. The maximum S/N ratio was calculated 6, improving from 1.8. Simulation showed that the maximum S/N would be 75 under the viscosity damping coefficient of 1 N s/m.

AN INTEGRATED RADIO FREQUENCY PROBE AND CRANIAL CLAMP FOR INTRAOPERATIVE MAGNETIC RESONANCE IMAGING

OBJECTIVE

To design an integrated radio frequency (RF) head probe and cranial clamp for intraoperative magnetic resonance imaging (MRI) that do not interfere with the operating procedures.

METHODS

A concept based on four inductively coupled rings was developed and applied for an intraoperative RF probe. The probe was integrated with a specially designed cranial clamp and incorporated into the intraoperative MRI system.

RESULTS

The design of the RF probe allows splitting the probe into two separate parts; the lower two rings and matching ring are permanently incorporated into the patient table, and the two upper rings can be removed to expose the patient's head during neurosurgery. The probe produces a homogeneous B1 field over the entire region of interest with sufficient sensitivity to obtain high quality images. The cranial clamp, made of MRI compatible materials, is asymmetrical to allow variable head positioning.

CONCLUSION

The described RF head probe and cranial clamp have been used successfully in more than 400 brain surgeries without compromising sterility of the operating area. Pre-, intra-, and postsurgical MRI scans have been obtained without a need to move a patient or reposition the head for imaging sessions. The images were of high quality and free of susceptibility or eddy currents artifacts. With minor modifications, the integrated RF probe and cranial clamp can be used successfully in other intraoperative MRI systems.

Functional imaging in a low-field, mobile intraoperative magnetic resonance scanner: expanded paradigms

OBJECTIVE

We previously demonstrated the capability to obtain functional magnetic resonance imaging (MRI) scans of the motor cortex in healthy volunteers using a low-field mobile operating room-based MRI scanner with 0.12-T field strength. Using an expanded (0.15-T), but still mobile, version of this system, our goal was to acquire data showing activation of other areas of functionally important cortex.

METHODS

Five healthy volunteers were scanned with the low-field scanner using finger tapping, hand touch, silent word generation, text listening, and visual stimulation paradigms. The data was analyzed offline using publicly available software. For comparison, the volunteers were then scanned with a 3-T diagnostic MRI scanner.

RESULTS

Significant cortical activation was demonstrated on 16 out of 22 images obtained on the operating room-based scanner. Motor activation was most robust, followed by silent word generation, text listening, and hand touch paradigms. The correlation coefficients compared favorably with the images obtained on the 3-T scanner. The signal changes were higher for images obtained with the low-field, mobile scanner compared with those performed with the 3-T diagnostic MRI scanner.

CONCLUSION

Functional MRI scans of multiple cortical areas can be acquired with a low-field strength magnet designed for intraoperative imaging. Further refinement of this technique may allow for the acquisition of true intraoperative functional MRI scans immediately, before, and even during cranial surgery in select patients.

Advanced approach for intraoperative MRI guidance and potential benefit for neurosurgical applications

PURPOSE

To present an advanced approach for intraoperative image guidance in an open 0.5 T MRI and to evaluate its effectiveness for neurosurgical interventions by comparison with a dynamic scan-guided localization technique.

MATERIALS AND METHODS

The built-in scan guidance mode relied on successive interactive MRI scans. The additional advanced mode provided real-time navigation based on reformatted high-quality, intraoperatively acquired MR reference data, allowed multimodal image fusion, and used the successive scans of the built-in mode for quick verification of the position only. Analysis involved tumor resections and biopsies in either scan guidance (N = 36) or advanced mode (N = 59) by the same three neurosurgeons. Technical, surgical, and workflow aspects were compared.

RESULTS

The image quality and hand-eye coordination of the advanced approach were improved. While the average extent of resection, neurologic outcome after functional MRI (fMRI) integration, and diagnostic yield appeared to be slightly better under advanced guidance, particularly for the main surgeon, statistical analysis revealed no significant differences. Resection times were comparable, while biopsies took around 30 minutes longer.

CONCLUSION

The presented approach is safe and provides more detailed images and higher navigation speed at the expense of actuality. The surgical outcome achieved with advanced guidance is (at least) as good as that obtained with dynamic scan guidance.

Neurosurgical uses for intraprocedural magnetic resonance imaging

Neurosurgical procedures demand precision, and efforts to create accurate neurosurgical navigation have been central to the profession through its history. Magnetic resonance image (MRI)-guided navigation offers the possibility of real-time, image-based stereotactic information for the neurosurgeon, which makes possible a number of diagnostic and therapeutic procedures. This article will review both current options for intraoperative MRI operative suite arrangements and the current therapeutic/diagnostic uses of intraoperative MRI.

Intraoperative magnetic resonance imaging-guided neurosurgery at 3-T

OBJECTIVE

Between 1997 and 2004, more than 700 neurosurgical procedures were performed in a 1.5-T magnetic resonance-guided therapy suite. During this period, the concept of high-field intraoperative magnetic resonance imaging (MRI) was validated, as was a new surgical guidance tool, the Navigus (Image-guided Neurologics, Melbourne, FL), and its methodology, prospective stereotaxy. Clinical protocols were refined to optimize surgical techniques. That implementation, the "Minnesota suite," has recently been revised, and a new suite with a 3-T MRI scanner has been developed.

METHODS

On the basis of experience at the initial 1.5-T suite, a new suite was designed to house a 3-T MRI scanner with wide surgical access at the rear of the scanner (opposite the patient couch). Use of electrocautery, a fiberoptic headlamp, a power drill, and MRI-compatible neurosurgical cutlery was anticipated by inclusion of waveguides and radiofrequency filter panels that penetrate the MRI suite's radiofrequency shield. An MRI-compatible head holder was adapted for use on the scanner table. A few items exhibiting limited ferromagnetism were used within the magnetic field, taking strict precautions.

RESULTS

During the initial procedures (all magnetic resonance-guided neurobiopsies), the new suite functioned as anticipated. Although metallic artifact related to titanium needles is more challenging at 3 T than at 1.5 T, it can be contained even at 3 T. Similar to 1.5 T, such artifact is best contained when the device is oriented along B0, the main magnetic field. Surgical needles, disposable scalpels, and disposable razors, despite being minimally ferromagnetic, were easily controlled by the surgeon.

CONCLUSION

An intraoperative magnetic resonance-guided neurosurgical theater has been developed with a 3-T MRI scanner. Intraoperative imaging is feasible at this field strength, and concerns regarding specific absorption rate can be allayed. Infection control procedures can be designed to permit neurosurgery within this environment. Despite the increase in magnetic field strength, safety can be maintained.

Functional magnetic resonance imaging in anesthetized patients: a relevant step toward real-time intraoperative functional neuroimaging

OBJECTIVE

The introduction of intraoperative 1.5-T magnetic resonance imaging may provide up-to-date functional information in the surgical environment. However, feasible passive paradigms that allow the examination of anesthetized patients will be a precondition for intraoperative functional magnetic resonance imaging (fMRI). The aim of this study is to evaluate the feasibility of a recently developed passive fMRI paradigm for functional neuroimaging in anesthetized patients.

METHODS

We investigated four anesthetized patients with intracranial pathological conditions not related to the sensorimotor cortex. All patients had been anesthetized with standard total intravenous anesthesia for more than 24 hours before the fMRI scan. Anesthesia and monitoring were sustained during the scanning procedure. A simultaneous electrical stimulation of the median and tibial nerves was applied to elicit a cortical activation using a custom-designed magnetoelectrically shielded conductor. Statistical evaluation using Statistical Parametric Mapping software (Wellcome Department of Imaging Neuroscience, University College, London, England) and the Talairach Daemon Client (Version 1.1; Research Imaging Center, University of Texas Health Science Center, San Antonio, TX) followed.

RESULTS

Three of four patients showed a good activation of the sensorimotor cortex under anesthesia. In one patient, no significant activation was observed, presumably as a result of increased body impedance because of severe edema. Standard dosages of the narcotics did not influence the cortical response; however, stimulation intensity had to be increased compared with awake patients. We did not detect relevant interferences with magnetic resonance imaging arising from the technical setup.

CONCLUSION

The method presented proved to be a feasible paradigm for fMRI evaluation of the sensorimotor cortex in anesthetized patients and thus forms a relevant step toward real intraoperative functional neuroimaging.

Application of soft tissue modelling to image-guided surgery

The deformation of soft tissue compromises the accuracy of image-guided surgery based on preoperative images, and restricts its applicability to surgery on or near bony structures. One way to overcome these limitations is to combine biomechanical models with sparse intraoperative data, in order to realistically warp the preoperative image to match the surgical situation. We detail the process of biomechanical modelling in the context of image-guided surgery. We focus in particular on the finite element method, which is shown to be a promising approach, and review the constitutive relationships which have been suggested for representing tissue during surgery. Appropriate intraoperative measurements are required to constrain the deformation, and we discuss the potential of the modalities which have been applied to this task. This technology is on the verge of transition into clinical practice, where it promises to increase the guidance accuracy and facilitate less invasive interventions. We describe here how soft tissue modelling techniques have been applied to image-guided surgery applications.

3-Tesla intraoperative MR imaging for neurosurgery

Intraoperative magnetic resonance (MR) image-guided neurosurgery has been performed since 1994. Using a 1.5-Tesla (T) intraoperative MR imaging system, we have performed more than 750 interventional procedures. Having validated the safety and efficacy of this surgical technique that is relatively amenable to nearly all new in-hospital MR suites, we sought to adapt this approach at our sister hospital where a new short-bore 3-T MR suite was being installed. Using many of the lessons learned from our initial experience at 1.5-T, we designed a new interventional suite that would enable surgery to be performed entirely within a 3-T MR environment. All surgical instrumentation including electrocautery, fiberoptic headlamp, power drill, and ultrasonic aspirator was entirely MR-compatible. A few items with limited ferromagnetism were utilized within the magnetic field under strict precaution. From 2/04 to 7/05, those cases initially performed within the 3-T surgical suite included one drainage and reservoir placement for a cystic craniopharyngioma, five brain biopsies and two craniotomies; one for open brain biopsy and another for lesion resection. The craniopharyngioma was successfully aspirated and had the reservoir catheter placed within the cyst. All five brain biopsies yielded diagnostic tissue. The craniotomy for mass resection demonstrated radiation necrosis. Although the metallic artifact from the biopsy needle was more prominent than at 1.5-T, accurate image interpretation was possible. Surgical needles, disposable scalpel, disposable razor, and surgical stapler were minimally ferromagnetic and safely controlled by the surgeon. There were no adverse events associated with any procedure. MR-guided neurosurgery can be safely and effectively performed at 3-T. The surgical environment at 3-T is comparable to that present at 1.5-T.

Comparing 0.2 tesla with 1.5 tesla intraoperative magnetic resonance imaging analysis of setup, workflow, and efficiency

RATIONALE AND OBJECTIVES

To compare low-field with high-field intraoperative magnetic resonance imaging (MRI) in respect to setup, workflow, and efficiency.

MATERIALS AND METHODS

A total of 750 patients were investigated either with a 0.2 T (March 1996-July 2001) or a 1.5 T (April 2002-August 2004) MRI system adapted for intraoperative use.

RESULTS

With the low-field setup, 330 patients were examined in 65 months; with the high-field setup, 420 patients were examined in 29 months, which is a 2.8-fold increase in cases per month (14.5 versus 5.1) reflecting improved ease of use. Concerning intraoperative workflow, the time for preparation to start intraoperative imaging decreased fivefold (2 minutes instead of 10 minutes); navigation was applied more often with 57% versus 51% (240/420 versus 167/330), whereas functional data were integrated in 35% versus 39% (84/240 versus 65/167). Application of navigation updates was doubled (22% versus 11%; 53/240 versus 18/167). Image acquisition time was reduced by a factor of two, allowing a more detailed imaging protocol, whereas the image quality is clearly improved in the high-field setup, where there was no difference between the standard preoperative image quality compared with the intraoperative quality. This contributed to an increased detection of tumor remnants and extended resections in pituitary (36% versus 29%; 47/129 versus 17/59) and glioma surgery (41% versus 26%; 38/93 versus 28/106).

CONCLUSION

Compared with the low-field setup, the high-field setup results not only in clearly superior image quality and increased imaging armamentarium, contributing to increased rates of detected tumor remnants, but also in a distinct improvement of intraoperative workflow. Furthermore, intraoperative high-field MRI offers various modalities beyond standard anatomic imaging, such as magnetic resonance spectroscopy, diffusion tensor imaging, and functional MRI.

Functional magnetic resonance imaging-guided resection of low-grade gliomas

BACKGROUND

We sought to determine the safety and efficacy of using functional magnetic resonance imaging (fMRI) to guide the resection of low-grade gliomas (LGG).

METHODS

From September 1997 to February 2003, fMRI was performed in 16 patients (age, 15-43 years) before an attempted surgical resection of LGG. Functional imaging was used to identify and coregister eloquent cortices pertinent to motor (10), speech (3), motor and speech (2), and short-term memory and speech (1) activation with respect to the tumor using a 1.5-T interventional MRI system. Intraoperatively acquired T(2)-weighted and turbo-fluid attenuated inversion recovery images were used to assess the completeness of surgical resection.

RESULTS

Tumors included 10 oligodendrogliomas, 4 astrocytomas, 1 dysembryoplastic neuroepithelial tumor, and 1 pleomorphic xanthoastrocytoma. In every case, the preoperative brain activation study accurately determined the location of neurologic function. After surgery, one patient had a transient hemiparesis and another had a temporary apraxia. Ten patients had radiographically complete resections and 5 with oligodendrogliomas had incomplete resections because of the proximity of their tumors to functional areas. Only one patient with an astrocytoma in the motor strip received postoperative radiation therapy. To date, radiographic tumor progression has not been seen in any patient with either a partial or a complete resection with a median follow-up of 25 months (range, 12-87 months).

CONCLUSIONS

Functional MRI was accurate for identifying areas of neurologic function before surgical resection of LGG. Patients with complete radiographic resections or with incompletely resected oligodendrogliomas can be safely followed radiographically after surgery. Radiation therapy was reserved for infiltrating astrocytomas that were not completely resectable.

Intraoperative MR Imaging

With the rapid evolution of technologic advances in neurosurgery, it is no surprise that the use of MR imaging to guide the performance of safe and effective surgical procedures is at the forefront of development. This article highlights the current capabilities of intraoperative MR-guided surgery for a variety of neurosurgical procedures and traces the evolution of the field to its present level of technical sophistication. The costs of intraoperative MR imaging and its future directions are discussed.

Intraoperative functional MRI: Implementation and preliminary experience

For a non-invasive identification of eloquent brain areas in neurosurgical procedures up to now only preoperative functional brain mapping techniques are available. These are based, e.g., on preoperative functional magnetic resonance imaging (fMRI) investigations in awake patients. The aim of this study was to investigate the feasibility to perform fMRI during neurosurgical procedures in anesthetized patients. For that purpose, a passive stimulation paradigm with peripheral nerve stimulation was applied. A 1.5-T MR scanner placed in a radiofrequency-shielded operating room with an adapted operating table was used for intraoperative fMRI. The fMRI data were analyzed during acquisition by an online statistical evaluation package installed on the MR scanner console. In addition, phase reversal of somatosensory evoked potentials was used for verification of intraoperative fMRI. In four anesthetized patients with lesions in the vicinity of the central region a total of 11 fMRI measurements were successfully acquired and analyzed online. Activation was found in the somatosensory cortex, which could be confirmed by intraoperative phase reversal for each measurement. Furthermore, statistical parametric mapping (SPM) was employed for an extensive offline data analysis. We did not observe any neurological deterioration or complications due to the stimulation technique. Intraoperative fMRI is technically feasible allowing a real-time identification of eloquent brain areas despite brain shift.

Intraoperative MRI to guide the resection of primary supratentorial glioblastoma multiforme--a quantitative radiological analysis

Patients with supratentorial high-grade glioma underwent surgery within a vertically open 0.5-T magnetic resonance (MR) system to evaluate the efficacy of intraoperative MR guidance in achieving gross-total resection. For 31 patients, preoperative clinical data and MR findings were consistent with the putative diagnosis of a high-grade glioma, in 23 cases in eloquent regions. Tumor resections were carried out within a 0.5-T MR SIGNA SP/i (GE Medical Systems, USA). The resection of the lesion was carried out using fully MR compatible neurosurgical equipment and was stopped at the point when the operation was considered complete by the surgeon viewing the operation field with the microscope. We repeated imaging to determine the residual tumor volume only visible with MRI. Areas of tissue that were abnormal on these images were localized in the bed of resection by using interactive MR guidance. The procedure of resection, imaging control and interactive image guidance was repeated where necessary. Almost all tissue with abnormal characteristics was resected, with the exception of tissue localized in eloquent brain areas. The diagnosis of glioblastoma was confirmed in all 31 cases. When comparing the tumor volume before resection and at the point where the neurosurgeon would otherwise have terminated surgery ("first control"), residual tumor tissue was detectable in 29/31 patients; the mean residual tumor volume was 30.7 +/- 24%. After repeated resections under interactive image guidance the mean residual tumor volume was 15.1%. At this step we found tumor remnants only in 20/31 patients. The perioperative morbidity (12.9%) was low. Twenty-seven patients underwent sufficient postoperative radiotherapy. We found a significant difference (log(rank)p = 0.0037) in the mean survival times of the two groups with complete resection (n = 10, median survival time 537 days) and incomplete resection (n = 17, median survival time 237 days). The resection of primary glioblastoma multiforme under intraoperative MR guidance as demonstrated is a possibility to achieve a more complete removal of the tumor than with conventional techniques. In our small but homogeneous patient group we found an increase in the median survival time in patients with MRI for complete tumor resection, and the overall surgical morbidity was low.

1.5 T: intraoperative imaging beyond standard anatomic imaging

Intraoperative high-field MRI with integrated microscope-based neuronavigation is a safe and reliable technique providing immediate intraoperative quality control. Major indications are pituitary tumor, glioma, and epilepsy surgery. Intraoperative high-field MRI provides intraoperative anatomic images at high quality that are up to the standard of pre- and postoperative neuroradiologic imaging. Compared with previous low-field MRI systems used for intraoperative imaging, not only is the image quality is clearly superior but the imaging spectrum is much wider and the intraoperative work flow is improved. Furthermore, high-field MRI offers various modalities beyond standard anatomic imaging, such as magnetic resonance spectroscopy, diffusion tensor imaging, and functional MRI.

Intraoperative magnetic resonance imaging at 0.12 T: is it enough?

Low magnetic field strength MRI provides the anatomic information needed for intracranial procedures in which intraoperative imaging is needed. Stereotactic accuracy is proven. The distinct advantage of this technologic approach is that it allows the neurosurgical team to operate an iMRI system with minimal disruption to the OR routine. Technical improvements are likely to increase the power and versatility of low field strength iMRI. Logic dictates that ergonomics and economics will make this the iMRI technique desired by most neurosurgeons.

Future perspectives for intraoperative MRI

MRI-guided neurosurgery not only represents a technical challenge but a transformation from conventional hand-eye coordination to interactive navigational operations. In the future, multimodality-based images will be merged into a single model, in which anatomy and pathologic changes are at once distinguished and integrated into the same intuitive framework. The long-term goals of improving surgical procedures and attendant outcomes, reducing costs, and achieving broad use can be achieved with a three-pronged approach: 1. Improving the presentation of preoperative and real-time intraoperative image information 2. Integrating imaging and treatment-related technology into therapy delivery systems 3. Testing the clinical utility of image guidance in surgery The recent focus in technology development is on improving our ability to understand and apply medical images and imaging systems. Areas of active research include image processing, model-based image analysis, model deformation, real-time registration, real-time 3D (so-called "four-dimensional") imaging, and the integration and presentation of image and sensing information in the operating room. Key elements of the technical matrix also include visualization and display platforms and related software for information and display, model-based image understanding, the use of computing clusters to speed computation (ie, algorithms with partitioned computation to optimize performance), and advanced devices and systems for 3D device tracking (navigation). Current clinical applications are successfully incorporating real-time and/or continuously up-dated image-based information for direct intra-operative visualization. In addition to using traditional imaging systems during surgery, we foresee optimized use of molecular marker technology, direct measures of tissue characterization (ie, optical measurements and/or imaging), and integration of the next generation of surgical and therapy devices (including image-guided robotic systems). Although we expect the primary clinical thrusts of MRI-guided therapy to remain in neurosurgery, with the possible addition of other areas like orthopedic, head, neck, and spine surgery, we also anticipate increased use of image-guided focal thermal ablative methods (eg, laser, RF, cryoablation, high-intensity focused ultrasound). By validating the effectiveness of MRI-guided therapy in specific clinical procedures while refining the technology that serves as its underpinning at the same time, we expect many neurosurgeons will eventually embrace MRI as their intraoperative imaging choice. Clearly, intraoperative MRI offers several palpable advantages. Most important among these are improved medical outcomes, shorter hospitalization, and better and faster procedures with fewer complications. Certain economic and practical barriers also impede the large-scale use of intraoperative MRI. Although there has been a concerted technical effort to increase the benefit/cost ratio by gathering more accurate information, designing more localized and less invasive treatment devices, and developing better methods to orient and position therapy end-effectors, further research is needed. Indeed, the drive to improve and upgrade technology is ongoing. Specifically, in the context of the real-time representation of the patient's anatomy, we have improved the quality and utility of the information presented to the surgeon, which, in turn, contributes to more successful surgical outcomes. We can also expect improvements in intraoperative imaging systems as well as increased use of nonimaging sensors and robotics to facilitate more widespread use of intraoperative MRI.

1.5 T: spectroscopy-supported brain biopsy

The technique for performing brain biopsy has evolved significantly over the last three decades. Intraoperative MRI guidance has enhanced the diagnostic rate for brain biopsy by now allowing neurosurgeons to compensate for brain shift while performing the procedure in near-real time. The development of a trajectory guide enables the neurosurgeon to determine a safe and accurate path for intraoperative MRI-guided brain biopsy and to secure the position of the needle within the target tissue. Magnetic resonance spectroscopy (MRS) has been used to help distinguish recurrent brain tumor from the effect of previous treatments by measuring specific metabolites within the area of concern. Combining the use of a trajectory guide with MRS should enhance the diagnostic yield for MRI-guided brain biopsy.

Adaptation of a standard low-field (0.3-T) system to the operating room: focus on pituitary adenomas

iMRI is a reliable and safe tool to monitor the extent of resection and to avoid complications in the transsphenoidal surgical approach for pituitary tumors. The best indication for its application in transsphenoidal surgery is for patients with pituitary macroadenomas with suprasellar extension. The low-field 0.3-T magnet has a diagnostic imaging quality that provides surgeons with good intraoperative detail of the anatomic relations in the sellar region. In our experience, iMRI provided a distinct benefit in planned STR for invasive macroadenomas that compress the optic chiasm and in planned GTR for noninvasive tumors. The iMRI design adopted at our center includes important features, such as the use of ferromagnetic surgical instruments, elimination of patient transportation, and capability as a shared resource, that allow multipurpose diagnostic use and increased cost-effectiveness.

Epilepsy surgery with intraoperative MRI at 1.5 T

Despite the infancy of iMRI in epilepsy surgery and the paucity of literature on this topic, some conclusions may be reached. Although iMRI is a useful adjunct during epilepsy procedures, a randomized control trial is necessary to determine its true impact.

Strategies for brain shift evaluation

For the analysis of the brain shift phenomenon different strategies were applied. In 32 glioma cases pre- and intraoperative MR datasets were acquired in order to evaluate the maximum displacement of the brain surface and the deep tumor margin. After rigid registration using the software of the neuronavigation system, a direct comparison was made with 2D- and 3D visualizations. As a result, a great variability of the brain shift was observed ranging up to 24 mm for cortical displacement and exceeding 3 mm for the deep tumor margin in 66% of all cases. Following intraoperative imaging the neuronavigation system was updated in eight cases providing reliable guidance. For a more comprehensive analysis a voxel-based nonlinear registration was applied. Aiming at improved speed of alignment we performed all interpolation operations with 3D texture mapping based on OpenGL functions supported in graphics hardware. Further acceleration was achieved with an adaptive refinement of the underlying control point grid focusing on the main deformation areas. For a quick overview the registered datasets were evaluated with different 3D visualization approaches. Finally, the results were compared to the initial measurements contributing to a better understanding of the brain shift phenomenon. Overall, the experiments clearly demonstrate that deformations of the brain surface and deeper brain structures are uncorrelated.