2008 5 2 Hata Talk U Michigan

Title

Role of Image Processing, Navigation and Robots in MRI-guided Intervention

Speaker=

Nobuhiko Hata, Ph.D. Assistant Professor Technical Director, Image Guided Therapy Program Director, Surgical Navigation and Robotics Laboratory Department of Radiology, Brigham and Women's Hospital hata@bwh.harvard.edu www.snrlab.org

Abstract

This work describes an integrated system for planning and performing surgical procedures with robotic assistance under Magnetic Resonance Imaging-guidance. Based on anatomical structures and lesions observed in the patient's MR images, the physician interacts with a planning interface to specify the set of desired needle trajectories. As it is manually inserted through the guide using visualization from real-time imaging, the needle can be directly controlled. With its ability to aid the guidance of a needle, free open-source software, 3D Slicer, is, therefore, an indispensable tool for the clinical application of a robot within a multi-disciplinary and multi-institutional collaboration. This work also introduces an advanced form of image-guided robotic surgery where imaging is used not only as an observation tool, but also as a feedback sensor in robot control. In the MR scanner, using MR imaging, the robot is servo controlled by navigator echo-based motion tracking and synchronized to the motion of moving organs. This new method, and its supporting technology, will impact a variety of image-guided therapies such as focused ultrasound therapy of moving organs and device tracking with dynamic MRI in cardiac interventions. Lastly, I present our long-term clinical goal at the Brigham and Women’s Hospital to perform therapies in high-field closed-bore MRI scanners where, through MRI visualization and control, a miniature capsule endoscope can perform both diagnosis and treatment.