Real-time MRI-guided Robotic Neurosurgery

Dimension-aware Safe Trajectory Planning and Real-time MRI-guided Intraoperative Tracking for Robotic Neurosurgery

Real-time MRI-based Intraoperative Tracking

Intraoperative images acquired by IPL

Since the puncture needle itself cannot be visualized in MRI images, the video on the right shows the real-time trace left by the puncture needle when it punctures the gelatin.

IPL function in software

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Real shooting

The right side shows the real-time intraoperative MRI image obtained by the IPL function.

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Real-time intraoperative imaging at the MRI machine control terminal: puncture entry

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IPL function obtains raw data and reconstruct in real time: puncture needle withdrawal

Test environment, equipment and materials

5T uMR

3T uMR

Phantom

Photos of some of the phantoms involved in the experiment, mainly blueberries and pig brains

pig brains

blueberries and pig brain

blueberries

blueberries and pig brain

blueberries

Puncture results

PMRNR puncture results

After the puncture path is given by the DO algorithm, the puncture result of PMRNR

The given puncture target is the center of the blueberry or the inside of the straw

Inside the MRI machine

Outside the MRI machine

Inside the MRI machine

PMRNR autonomous puncture process

Since the complete and clear robot movement process cannot be captured inside the MRI machine, the puncture process was demonstrated outside the MRI machine.

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Evaluation of Dimension-aware Optimization(DO) Algorithm

Visualization of planning effect of DO algorithm in real brain images

The DO algorithm is planned based on the segmentation results of the MRI image. The obtained puncture path is converted into the puncture trajectory in the robot coordinate system through the self-developed software. The visualization effect is shown in the video on the right.

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Benchmark function results for the DO algorithm

Benchmark function results comparing the DO algorithm with related algorithms, including random optimization algorithms and the deterministic optimization algorithm CFO, as well as various algorithms that only generate two solutions per iteration.