An approach to MR-guided interventions with a manually-operated manipulator

The aim of the present work was to develop and test the methodology, along with the relevant software and hardware tools required, to facilitate a needle targeting intervention using a manually-actuated, MR-compatible manipulation system. The manipulator is deployed inside a high-field, cylindrical MR scanner and allows real-time guidance of an intervention. The methodology effectively combines the performance of an off-line feasibility study for a minimally invasive procedure, on-line stereotactic planning for the preoperative positioning of the interventional tool and intraoperative real-time monitoring of the actual intervention. The approach that was followed is explained and an experimental phantom study is presented, which demonstrates its effectiveness.