Magnetic resonance guidance of thermal ablation

Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention

MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub-optimal workflow due to the limited accuracy provided by the manual needle insertions. This paper presents a compact body-mounted MR-conditional robot that can operate in closed-bore MR scanners for accurate needle guidance. The robotic platform consists of two stacked Cartesian XY stages, each with two degrees of freedom, that facilitate needle insertion pose control. The robot is actuated using 3D-printed pneumatic turbines with MR-conditional bevel gear transmission systems. Pneumatic valves and control mechatronics are located inside the MRI control room and are connected to the robot with pneumatic transmission lines and optical fibers. Free-space experiments indicated robot-assisted needle insertion error of 2.6 ± 1.3 mm at an insertion depth of 80 mm. The MR-guided phantom studies were conducted to verify the MR-conditionality and targeting performance of the robot. Future work will focus on the system optimization and validations in animal trials.

Ultrasound Homodyned-K Contrast-Weighted Summation Parametric Imaging Based on H-scan for Detecting Microwave Ablation Zones

The homodyned-K (HK) distribution is a generalized model of envelope statistics whose parameters α (the clustering parameter) and k (the coherent-to-diffuse signal ratio) can be used to monitor the thermal lesions. In this study, we proposed an ultrasound HK contrast-weighted summation (CWS) parametric imaging algorithm based on the H-scan technique and investigated the optimal window side length (WSL) of the HK parameters estimated by the XU estimator (an estimation method based on the first moment of the intensity and two log-moments, which was used in the proposed algorithm) through phantom simulations. H-scan diversified ultrasonic backscattered signals into low- and high-frequency passbands. After envelope detection and HK parameter estimation for each frequency band, the α and k parametric maps were obtained, respectively. According to the contrast between the target region and background, the (α or k) parametric maps of the dual-frequency band were weighted and summed, and then the CWS images were yielded by pseudo-color imaging. The proposed HK CWS parametric imaging algorithm was used to detect the microwave ablation coagulation zones of porcine liver ex vivo under different powers and treatment durations. The performance of the proposed algorithm was compared with that of the conventional HK parametric imaging and frequency diversity and compounding Nakagami imaging algorithms. For two-dimensional HK parametric imaging, it was found that a WSL equal to 4 pulse lengths of the transducer was sufficient for estimating the α and k parameters in terms of both parameter estimation stability and parametric imaging resolution. The HK CWS parametric imaging provided an improved contrast-to-noise ratio over conventional HK parametric imaging, and the HK α_cws parametric imaging achieved the best accuracy and Dice score of coagulation zone detection.

Design and control of a MRI-compatible pneumatic needle puncture robot

Percutaneous needle puncture operation is widely used in the image-guided interventions, including biopsy and ablation. MRI guidance has the advantages of high-resolution soft tissue imaging and thermal monitoring during energy-based ablation. This paper proposes the design of a 5-DOF pneumatic needle puncture robot, with all the cylinders, sensors and structure material MRI-compatible. Also, a hybrid fuzzy-PID controller is designed for the pneumatic driven system to adjust the PID parameters adaptively. The experiment validation result shows that, compared with the traditional fix-parameter PID control, the proposed hybrid fuzzy-PID control has no overshoot, and the settle time/steady state error remains low even with increasing load. This proves that the hybrid fuzzy-PID control strategy can increases the positioning accuracy and robustness of the pneumatic driven needle puncture robot, which is significant for the safety of percutaneous needle puncture operation.

Robot-assistant for MRI-guided liver ablation: A pilot study

PURPOSE

Percutaneous ablation under MRI-guidance allows treating otherwise inoperable liver tumors locally using a catheter probe. However, manually placing the probe is an error-prone and time consuming task that requires a considerable amount of training. The aim of this paper was to present a pneumatically actuated robotic instrument that can assist clinicians in MRI-guided percutaneous intervention of the liver and to assess its functionality in a clinical setting. The robot positions a needle-guide inside the MRI scanner bore and assists manual needle insertions outside the bore.

METHODS

The robot supports double oblique insertions that are particularly challenging for less experienced clinicians. Additionally, the system employs only standard imaging sequences and can therefore be used on different MRI scanners without requiring prior integration. The repeatability and the accuracy of the robot were evaluated with an optical tracking system. The functionality of the robot was assessed in an initial pilot study on two patients that underwent MRI-guided laser ablation of the liver.

RESULTS

The robot positioned the needle-guide in a repeatable manner with a mean error of 0.35 mm and a standard deviation of 0.32 mm. The mean position error corresponding to the needle tip, measured for an equivalent needle length of 195 mm over 25 fixed points, was 2.5 mm with a standard deviation of 1.2 mm. The pilot study confirmed that the robot does not interfere with the equipment used for MRI-guided laser ablation and does not visibly affect the MR images. The robot setup integrated seamlessly within the established clinical workflow. The robot-assisted procedure was successfully completed on two patients, one of which required a complex double oblique insertion. For both patients, the insertion depth and the tumor size were within the range reported for previous MRI-guided percutaneous interventions. A third patient initially enrolled in the pilot study and was considerably heavier than the others, preventing the use of the robot and requiring several freehand insertion attempts.

CONCLUSIONS

The robot repeatability and accuracy are appropriate for liver tumors normally treated with MRI-guided ablation. The results of the pilot study endorse the clinical use of the robot in its current form: the robot is fully functional and MRI-compatible in a clinical setting and is suitable for double-oblique needle insertions.

A novel needle guide system to perform percutaneous laser ablation of liver tumors using the multifiber technique

BACKGROUND

Previous studies have shown that laser ablation with the multifiber technique is effective in the treatment of liver tumors. However, the correct positioning of multiple needles may be challenging.

PURPOSE

To investigate the use of a novel needle guide system that was developed to perform percutaneous laser ablation of liver tumors with the multifiber technique under ultrasonographic guidance.

MATERIAL AND METHODS

Between February 2009 and June 2011, 116 patients (104 hepatocellular carcinomas and 12 metastases) with 127 liver nodules (median diameter, 3.0 cm; range, 1.5-6.0) were treated. Nineteen nodules were in high-risk locations. A needle guide with separate channels to insert two needles in a parallel position and at a prefixed distance was used.

RESULTS

Needles were positioned inside the target nodule easily and quickly, and correct spacing (1.5-1.8 cm) between light sources was immediately achieved. Complete tumor ablation was achieved in a single session in 112 (88.2%) lesions. In nodules ≤3.0 cm and >3.0 cm in size, ablation was complete in 93.6% and 79.6% of cases, respectively. Of note, complete ablation was achieved in 91.7% of nodules up to 5.0 cm.

CONCLUSION

With the new guidance system, needles could be inserted in parallel fashion, which facilitated positioning the needles in geometrical configurations to maximize the ablative effect. Worthy of note, the complete ablation rate in nodules >3.0 cm using the new guide system was higher than what has been reported in the literature so far.

Laser ablation for small hepatocellular carcinoma

Hepatocellular carcinoma (HCC) is one of the most common malignancies worldwide and is increasingly detected at small size (<5 cm) owing to surveillance programmes in high-risk patients. For these cases, curative therapies such as resection, liver transplantation, or percutaneous ablation have been proposed. When surgical options are precluded, image-guided tumor ablation is recommended as the most appropriate therapeutic choice in terms of tumor local control, safety, and improvement in survival. Laser ablation (LA) represents one of currently available loco-ablative techniques: light is delivered via flexible quartz fibers of diameter from 300 to 600 μm inserted into tumor lesion through either fine needles (21g Chiba needles) or large-bore catheters. The thermal destruction of tissue is achieved through conversion of absorbed light (usually infrared) into heat. A range of different imaging modalities have been used to guide percutaneous laser ablation, but ultrasound and magnetic resonance imaging are most widely employed, according to local experience and resource availability. Available clinical data suggest that LA is highly effective in terms of tumoricidal capability with an excellent safety profile; the best results in terms of long-term survival are obtained in early HCC so that LA can be proposed not only in unresectable cases but, not differently from radiofrequency ablation, also as the first-line treatment.

Imaging in interventional oncology

Medical imaging in interventional oncology is used differently than in diagnostic radiology and prioritizes different imaging features. Whereas diagnostic imaging prioritizes the highest-quality imaging, interventional imaging prioritizes real-time imaging with lower radiation dose in addition to high-quality imaging. In general, medical imaging plays five key roles in image-guided therapy, and interventional oncology, in particular. These roles are (a) preprocedure planning, (b) intraprocedural targeting, (c) intraprocedural monitoring, (d) intraprocedural control, and (e) postprocedure assessment. Although many of these roles are still relatively basic in interventional oncology, as research and development in medical imaging focuses on interventional needs, it is likely that the role of medical imaging in intervention will become even more integral and more widely applied. In this review, the current status of medical imaging for intervention in oncology will be described and directions for future development will be examined.

Minimally invasive image-guided therapy for inoperable hepatocellular carcinoma: What is the evidence today?

Hepatocellular carcinoma (HCC) is a primary malignant tumor of the liver that accounts for an important health problem worldwide. Only 10-15% of HCC patients are suitable candidates for hepatic resection and liver transplantation due to the advanced stage of the disease at time of diagnosis and shortage of donors. Therefore, several minimally invasive image-guided therapies for locoregional treatment have been developed. Tumor ablative techniques are either based on thermal tumor destruction, as in radiofrequency ablation, cryoablation, microwave ablation, laser ablation and high-intensity focused ultrasound, or chemical tumor destruction, as in percutaneous ethanol injection. Image-guided catheter-based techniques rely on intra-arterial delivery of embolic, chemoembolic or radioembolic agents. These minimally invasive image-guided therapies have revolutionized the management of inoperable HCC. This review provides a description of all minimally invasive image-guided therapies currently available, an up-to-date overview of the scientific evidence for their clinical use, and thoughts for future directions.

Laser ablation of hepatocellular carcinoma-A review

A wide range of local thermal ablative therapies have been developed in the treatment of non resectable hepatocellular carcinoma (HCC) in the last decade. Laser ablation (LA) and radiofrequency ablation (RFA) are the two most widely used of these. This article provides an up to date overview of the role of laser ablation in the local treatment of HCC. General principles, technique, image guidance and patient selection are discussed. A review of published data on treatment efficacy, long term outcome and complication rates of laser ablation is included and comparison with RFA made. The role of laser ablation in combination with transcatheter arterial chemoembolization is also discussed.

Magnetic resonance guidance for radiofrequency ablation of liver tumors

Image-guided thermal ablation of liver tumors is a minimally invasive treatment option. Techniques used for thermal ablation are radiofrequency (RF) ablation, laser interstitial thermotherapy (LITT), microwave (MW) ablation, high-intensity focused ultrasound (HIFU), and cryoablation. Among these techniques RF ablation attained widespread consideration. Image guidance should ensure a precise ablation therapy leading to a complete coagulation of tumor tissue without injury to critical structures. Therefore, the modality of image guidance has an important impact on the safety and efficacy of percutaneous RF ablation. The current literature regarding percutaneous RF ablation mainly describes the use of computed tomography (CT) and ultrasonography (US) guidance. In addition, interventional MR systems offer the possibility to utilize the advantages of MR imaging such as excellent soft-tissue contrast, multiplanar and interactive capabilities, and sensitivity to thermal effects during the entire RF ablation procedure. Monitoring of thermally induced coagulation by MR imaging is supportive to control the ablation procedure. MR imaging can be advantageously used to guide overlapping ablation if necessary as well as to define the endpoint of RF ablation after complete coverage of the target tissue is verified. Furthermore, monitoring of thermal effects is essential in order to prevent unintended thermal damage from critical structures surrounding the target region. Therefore, MR-guided RF ablation offers the possibility for a safe and effective therapy option in the treatment of primary and secondary hepatic malignancies. The article summarizes the role of MR guidance for RF ablation of liver tumors.

Method for automatic localization of MR-visible markers using morphological image processing and conventional pulse sequences: Feasibility for image-guided procedures

PURPOSE

To evaluate the feasibility and accuracy of an automated method to determine the 3D position of MR-visible markers.

MATERIALS AND METHODS

Inductively coupled RF coils were imaged in a whole-body 1.5T scanner using the body coil and two conventional gradient echo sequences (FLASH and TrueFISP) and large imaging volumes up to (300 mm(3)). To minimize background signals, a flip angle of approximately 1 degrees was used. Morphological 2D image processing in orthogonal scan planes was used to determine the 3D positions of a configuration of three fiducial markers (FMC). The accuracies of the marker positions and of the orientation of the plane defined by the FMC were evaluated at various distances r(M) from the isocenter.

RESULTS

Fiducial marker detection with conventional equipment (pulse sequences, imaging coils) was very reliable and highly reproducible over a wide range of experimental conditions. For r(M) </= 100 mm, the estimated maximum errors in 3D position and angular orientation were 1.7 mm and 0.33 degrees , respectively. For r(M) </= 175 mm, the respective values were 2.9 mm and 0.44 degrees .

CONCLUSIONS

Detection and localization of MR-visible markers by morphological image processing is feasible, simple, and very accurate. In combination with safe wireless markers, the method is found to be useful for image-guided procedures.