Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment

Girindra Wardhana; Yoeko X. Mak; Momen Abayazid; Jurgen J. Fütterer

doi:10.1109/BioRob52689.2022.9925469

Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment

Girindra Wardhana, Yoeko X. Mak, Momen Abayazid, Jurgen J. Fütterer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

129 Downloads (Pure)

Abstract

Irreversible electroporation (IRE) is a promising tumor treatment that uses an electric field to kill tumor cells. During treatment, 2–6 needles are inserted around the tumor, preferably placed in parallel and located at the same depth. This allows the electric field to be effectively distributed across the cell to destroy tumors. In this paper, we present a body-mounted, four degrees of freedom robot (140 mm × 147 mm × 113 mm), that assists multiple needle placement under Magnetic Resonance Imaging (MRI) guidance. The robot and the actuator can be classified as an MR safe system, where the material composition consists of non-metallic, non-magnetic, and non-conductive material to allow safe operation inside the MRI scanner. The accuracy of the robot was evaluated, and the maximum translation error was 0.72 ± 0.26 mm on the horizontal axis and 1.60 ± 0.75 mm on the vertical axis. The compatibility of the robot with MRI was evaluated and no artifacts or changes to the signal-to-noise ratio were observed in the MRI images. The proposed robot was able to cover the target tumor area and supports the placement of multiple needles for IRE treatment.

Original language	English
Title of host publication	2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Publisher	IEEE
Pages	1-6
Number of pages	6
ISBN (Electronic)	978-1-6654-5849-8
ISBN (Print)	978-1-6654-5850-4
DOIs	https://doi.org/10.1109/BioRob52689.2022.9925469
Publication status	Published - 3 Nov 2022
Event	9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022 - Seoul, Korea, Republic of, Seoul, Korea, Republic of Duration: 21 Aug 2022 → 24 Aug 2022 Conference number: 9

Conference

Conference	9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022
Abbreviated title	BioRob 2022
Country/Territory	Korea, Republic of
City	Seoul
Period	21/08/22 → 24/08/22

Keywords

Actuators
Magnetic resonance imaging
Prototypes
Needles
Robot sensing systems
Electroporation
Real-time systems
22/4 OA procedure

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10.1109/BioRob52689.2022.9925469

Design_and_Characterization_of_a_Multiple_Needle_Insertion_MRI-guided_Robot_for_Irreversible_Electroporation_IRE_TreatmentFinal published version, 1.16 MBLicence: Taverne

Cite this

Wardhana, G., Mak, Y. X., Abayazid, M., & Fütterer, J. J. (2022). Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment. In 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 1-6). Article 9925469 IEEE. https://doi.org/10.1109/BioRob52689.2022.9925469

@inproceedings{ce8ac07476c94450a98140b2bad451e9,

title = "Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment",

abstract = "Irreversible electroporation (IRE) is a promising tumor treatment that uses an electric field to kill tumor cells. During treatment, 2–6 needles are inserted around the tumor, preferably placed in parallel and located at the same depth. This allows the electric field to be effectively distributed across the cell to destroy tumors. In this paper, we present a body-mounted, four degrees of freedom robot (140 mm × 147 mm × 113 mm), that assists multiple needle placement under Magnetic Resonance Imaging (MRI) guidance. The robot and the actuator can be classified as an MR safe system, where the material composition consists of non-metallic, non-magnetic, and non-conductive material to allow safe operation inside the MRI scanner. The accuracy of the robot was evaluated, and the maximum translation error was 0.72 ± 0.26 mm on the horizontal axis and 1.60 ± 0.75 mm on the vertical axis. The compatibility of the robot with MRI was evaluated and no artifacts or changes to the signal-to-noise ratio were observed in the MRI images. The proposed robot was able to cover the target tumor area and supports the placement of multiple needles for IRE treatment.",

keywords = "Actuators, Magnetic resonance imaging, Prototypes, Needles, Robot sensing systems, Electroporation, Real-time systems, 22/4 OA procedure",

author = "Girindra Wardhana and Mak, {Yoeko X.} and Momen Abayazid and F{\"u}tterer, {Jurgen J.}",

year = "2022",

month = nov,

day = "3",

doi = "10.1109/BioRob52689.2022.9925469",

language = "English",

isbn = "978-1-6654-5850-4",

pages = "1--6",

booktitle = "2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)",

publisher = "IEEE",

address = "United States",

note = "9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022, BioRob 2022 ; Conference date: 21-08-2022 Through 24-08-2022",

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Wardhana, G, Mak, YX, Abayazid, M & Fütterer, JJ 2022, Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment. in 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)., 9925469, IEEE, pp. 1-6, 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022, Seoul, Korea, Republic of, 21/08/22. https://doi.org/10.1109/BioRob52689.2022.9925469

Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment. / Wardhana, Girindra; Mak, Yoeko X.; Abayazid, Momen et al.
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2022. p. 1-6 9925469.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment

AU - Wardhana, Girindra

AU - Mak, Yoeko X.

AU - Abayazid, Momen

AU - Fütterer, Jurgen J.

N1 - Conference code: 9

PY - 2022/11/3

Y1 - 2022/11/3

N2 - Irreversible electroporation (IRE) is a promising tumor treatment that uses an electric field to kill tumor cells. During treatment, 2–6 needles are inserted around the tumor, preferably placed in parallel and located at the same depth. This allows the electric field to be effectively distributed across the cell to destroy tumors. In this paper, we present a body-mounted, four degrees of freedom robot (140 mm × 147 mm × 113 mm), that assists multiple needle placement under Magnetic Resonance Imaging (MRI) guidance. The robot and the actuator can be classified as an MR safe system, where the material composition consists of non-metallic, non-magnetic, and non-conductive material to allow safe operation inside the MRI scanner. The accuracy of the robot was evaluated, and the maximum translation error was 0.72 ± 0.26 mm on the horizontal axis and 1.60 ± 0.75 mm on the vertical axis. The compatibility of the robot with MRI was evaluated and no artifacts or changes to the signal-to-noise ratio were observed in the MRI images. The proposed robot was able to cover the target tumor area and supports the placement of multiple needles for IRE treatment.

AB - Irreversible electroporation (IRE) is a promising tumor treatment that uses an electric field to kill tumor cells. During treatment, 2–6 needles are inserted around the tumor, preferably placed in parallel and located at the same depth. This allows the electric field to be effectively distributed across the cell to destroy tumors. In this paper, we present a body-mounted, four degrees of freedom robot (140 mm × 147 mm × 113 mm), that assists multiple needle placement under Magnetic Resonance Imaging (MRI) guidance. The robot and the actuator can be classified as an MR safe system, where the material composition consists of non-metallic, non-magnetic, and non-conductive material to allow safe operation inside the MRI scanner. The accuracy of the robot was evaluated, and the maximum translation error was 0.72 ± 0.26 mm on the horizontal axis and 1.60 ± 0.75 mm on the vertical axis. The compatibility of the robot with MRI was evaluated and no artifacts or changes to the signal-to-noise ratio were observed in the MRI images. The proposed robot was able to cover the target tumor area and supports the placement of multiple needles for IRE treatment.

KW - Actuators

KW - Magnetic resonance imaging

KW - Prototypes

KW - Needles

KW - Robot sensing systems

KW - Electroporation

KW - Real-time systems

KW - 22/4 OA procedure

U2 - 10.1109/BioRob52689.2022.9925469

DO - 10.1109/BioRob52689.2022.9925469

M3 - Conference contribution

SN - 978-1-6654-5850-4

SP - 1

EP - 6

BT - 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

PB - IEEE

T2 - 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022

Y2 - 21 August 2022 through 24 August 2022

ER -

Design and Characterization of a Multiple Needle Insertion MRI-guided Robot for Irreversible Electroporation (IRE) Treatment

Abstract

Conference

Keywords

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