Prof Zion Tse
PhD, CEng, FIET, FIMechE, SMIEEE

 

Research Impact

Robot for MRI-guided Prostate Cancer Focal Laser Ablation

Screenshot-from-2016-12-13-15-55-58.png Prostate cancer is the most common cancer among males, leading to approximately 27,000 deaths in the United States. Focal laser ablation (FLA) has been shown to be a promising approach for prostate cancer treatment with the advantage of efficiently ablating the cancer cells while inflicting less damage on the surrounding tissues. We hypothesized that a compact design of an MRI-conditional robot with two active planar DoFs, one passive rotation DoF, and remote catheter insertion capacities could enhance the clinical workflow required for MRI-guided FLA prostate procedures.

 

ROBOT FOR MRI-GUIDED PROSTATE CANCER FOCAL LASER ABLATIONTREATMENT PLANNING FOR MRI-GUIDED PROSTATE FOCAL LASER ABLATION
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Compared to prostatectomy, image-guided focal laser ablation (FLA) is a minimal invasive approach for treating prostate cancer that better preserves the neurovascular bundles. Visualase-based FLA which is currently in use relies on a rigid template for catheter guidance to deliver laser energy at the target position.
However, the accuracy and efficacy of the manual catheter targeting and manipulation approach are subject to the skills of the interventional radiologist. The NIH OncoNav is a surgical planning software optimized for MRI-guided prostate FLA procedures. The software was integrated with a robotic catheter guide and tested in three canine studies.

 

PROSTATE BIOPSY ROBOT

prostate.png The study objective is to develop an automated robot for multi-functional MR-guided prostate therapy, to target abnormalities identified on MRI and to perform the procedure easily and quickly. Pilot clinical studies will be included to validate the system’s use in a hospital setting.

 

ROBOT FOR MRI-GUIDED ALS SPINAL THERAPY

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Limited treatment options are available for treating Amyotrophic Lateral Sclerosis (ALS). Small animal models have shown promise in halting neurodegeneration associated with ALS where cellular therapeutics are delivered to the ventral horn of the spinal cord, although this procedure is invasive and requires multi-level laminectomy and dissection of the dura mater. We hypothesized that SpinoBot, a robotic needle guidance platform could deliver cellular therapeutics to the ventral horn percutaneously under MRI guidance, enhancing upon existing invasive and time-consuming techniques for targeting injection sites.

 

SpinoTemplate: A Platform for MRI-Guided Spinal Cord Injections

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Patients with amyotrophic lateral sclerosis have limited treatment options and a 20% survival rate within five years of diagnosis. Small animal models show promise for halting the associated neurodegeneration when cellular therapeutics are delivered to the ventral horn of the spinal cord. A template-based guidance system was developed to facilitate percutaneous injections under MRI guidance to improve upon existing invasive and time-consuming surgical techniques. Procedure duration was 30 min plus 5 min per insertion, with a mean error of < 2 mm

 

MRI TACTILE ARRAY

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For greatly increased diagnostic capability, an MRI-compatible tactile sensor design is proposed, which allows Minimally Invasive Surgery to be performed under image guidance, combining the strong capability of MRI soft tissue imaging and intuitive palpation. The sensing unit is based on a piezoelectric sensor methodology, which conforms to the stringent mechanical and electrical design requirements imposed by MR environment

 

MRI-COMPATIBLE ACTUATOR

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The MR environment imposes significant restrictions on the device design, as any device applied within it must be MR compatible. MR compatible equipment are required to cause negligible adverse effects on the image quality and scanner operation during their normal operating condition. Furthermore, an MR compatible device should cause no additional risk to the patient by way of induced forces, torques, induced currents or heating. Unfortunately, devices incorporating electronic components experience mutual electromagnetic interferences (EMI) by interaction with the scanner magnetic fields and detector coils

 

A MR-CONDITIONAL HIGH-TORQUE PNEUMATIC STEPPER MOTOR FOR MRIGUIDED AND ROBOT-ASSISTED INTERVENTION

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A simple design of MRconditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox.

 

 

MAPS – A MAGIC ANGLE POSITIONING SYSTEM FOR ENHANCED IMAGING IN HIGH-FIELD SMALL-BORE MRI

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The magic angle" MRI effect can enhance signal intensity in aligned collagenous structures oriented at approximately 55 with respect to the main magnetic field. The difficulty of positioning tissue inside closed-bore scanners has hampered magic angle use in research and clinics. An MRI-conditional mechatronic system has been developed to control sample orientation inside a 9.4T small bore MRI scanner. The system orients samples to within 0.5 and enables a 600% increase in tendon signal intensity

EVALUATION OF AN ACTIVE MAGNETIC RESONANCE TRACKING SYSTEM FOR INTERSTITIAL BRACHYTHERAPY

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In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization using magnetic resonance imaging (MRI) and

 

INTRA-CARDIAC MR IMAGING & MR-TRACKING CATHETER FOR IMPROVED MR-GUIDED EP

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A simple design of MRconditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox.

 

A MR-CONDITIONAL HIGH-TORQUE PNEUMATIC STEPPER MOTOR FOR MRIGUIDED AND ROBOT-ASSISTED INTERVENTION

Screenshot-from-2016-12-13-16-03-58.png

A simple design of MRconditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox.

 

A MR-CONDITIONAL HIGH-TORQUE PNEUMATIC STEPPER MOTOR FOR MRIGUIDED AND ROBOT-ASSISTED INTERVENTION

Screenshot-from-2016-12-13-16-03-58.png

A simple design of MRconditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox.

 

A MR-CONDITIONAL HIGH-TORQUE PNEUMATIC STEPPER MOTOR FOR MRIGUIDED AND ROBOT-ASSISTED INTERVENTION

Screenshot-from-2016-12-13-16-03-58.png

A simple design of MRconditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox.