Medsonic (Cyprus)

The current study proposes simple methods for assessing the performance of robotic devices intended for Magnetic Resonance Imaging (MRI)-guided needle biopsy. In-house made agar-based breast phantoms containing biopsy targets served as the main tool in the evaluation process of an MRI compatible positioning device comprising a needle navigator. The motion accuracy of mechanical stages was assessed by calliper measurements. Laboratory evaluation of needle targeting included a repeatability phantom test and a laser-based method. The accuracy and repeatability of needle targeting was also assessed by MRI. The maximum error of linear motion for steps up to 10mm was 0.1mm. Needle navigation relative to the phantom and alignment with the various biopsy targets were performed successfully in both the laboratory and MRI settings. The proposed biopsy phantoms offered tissue-like signal in MRI and good haptic feedback during needle insertion. The proposed methods could be valuable in the process of validating the accuracy of MRI-guided biopsy robotic devices in both laboratory and real environments.

A novel MRI-conditional robot that navigates focused ultrasound (FUS) for the treatment of gynaecological tumors endovaginally was developed. The robotic system has two PC-controlled axes (linear and angular). The robotic system was manufactured using a digital manufacturing 3D printer using acrylonitrile butadiene styrene (ABS) plastic. Evaluation of the device was performed in a 1.5T MRI using excised porcine tissue. The robotic system was successfully tested for MRI safety and compatibility. The robotic system has been tested for its functionality for creating multiple (overlapping) lesions in an in vitro model. An MRI-conditional FUS robotic system was developed that has the potential to create thermal lesions with the intention of treating gynaecological tumors. In the future a third axis will be needed that lifts the robot up or down in order to access vaginas which are at a variable height from the MRI table.

High-intensity focused ultrasound (HIFU) is a promising treatment method for many common cancers, including prostate cancer. Magnetic resonance image (MRI) guidance of HIFU permits targeting and monitoring of therapy. A prototype MRI-compatible positioning device that navigates a HIFU transducer was designed, fabricated and tested. The positioning device has two PC-controlled and one manually driven stage that allow endorectal access to the prostate. The positioning device was constructed using a 3-D rapid prototype manufacturing device. Software was developed that controls the motion of the positioning device and enables activation of a HIFU transducer. In vitro testing of the system was performed in a 1.5T MRI scanner using ex vivo turkey tissue. Optical encoders were employed to enhance the accuracy of this positioning device. The positioning device was successfully tested for MRI compatibility. The movement error of the positioning device is approximately 20 [Formula: see text]m. The robot has the ability to accurately move the transducer for creation of discrete and overlapping lesions. An MRI-compatible HIFU positioning system was developed that has the ability to create thermal lesions with MRI guidance for endorectal treatment of prostate cancer.