Imaging sequences for intraoperative MR-guided laparoscopic liver resection in 1.0-T high field open MRI

Performance of image guided navigation in laparoscopic liver surgery - A systematic review

BACKGROUND

Compared to open surgery, minimally invasive liver resection has improved short term outcomes. It is however technically more challenging. Navigated image guidance systems (IGS) are being developed to overcome these challenges. The aim of this systematic review is to provide an overview of their current capabilities and limitations.

METHODS

Medline, Embase and Cochrane databases were searched using free text terms and corresponding controlled vocabulary. Titles and abstracts of retrieved articles were screened for inclusion criteria. Due to the heterogeneity of the retrieved data it was not possible to conduct a meta-analysis. Therefore results are presented in tabulated and narrative format.

RESULTS

Out of 2015 articles, 17 pre-clinical and 33 clinical papers met inclusion criteria. Data from 24 articles that reported on accuracy indicates that in recent years navigation accuracy has been in the range of 8-15 mm. Due to discrepancies in evaluation methods it is difficult to compare accuracy metrics between different systems. Surgeon feedback suggests that current state of the art IGS may be useful as a supplementary navigation tool, especially in small liver lesions that are difficult to locate. They are however not able to reliably localise all relevant anatomical structures. Only one article investigated IGS impact on clinical outcomes.

CONCLUSIONS

Further improvements in navigation accuracy are needed to enable reliable visualisation of tumour margins with the precision required for oncological resections. To enhance comparability between different IGS it is crucial to find a consensus on the assessment of navigation accuracy as a minimum reporting standard.

A Review on Advances in Intra-operative Imaging for Surgery and Therapy: Imagining the Operating Room of the Future

With the advent of Minimally Invasive Surgery (MIS), intra-operative imaging has become crucial for surgery and therapy guidance, allowing to partially compensate for the lack of information typical of MIS. This paper reviews the advancements in both classical (i.e. ultrasounds, X-ray, optical coherence tomography and magnetic resonance imaging) and more recent (i.e. multispectral, photoacoustic and Raman imaging) intra-operative imaging modalities. Each imaging modality was analyzed, focusing on benefits and disadvantages in terms of compatibility with the operating room, costs, acquisition time and image characteristics. Tables are included to summarize this information. New generation of hybrid surgical room and algorithms for real time/in room image processing were also investigated. Each imaging modality has its own (site- and procedure-specific) peculiarities in terms of spatial and temporal resolution, field of view and contrasted tissues. Besides the benefits that each technique offers for guidance, considerations about operators and patient risk, costs, and extra time required for surgical procedures have to be considered. The current trend is to equip surgical rooms with multimodal imaging systems, so as to integrate multiple information for real-time data extraction and computer-assisted processing. The future of surgery is to enhance surgeons eye to minimize intra- and after-surgery adverse events and provide surgeons with all possible support to objectify and optimize the care-delivery process.

Tailored interactive sequences for continuous MR-image-guided freehand biopsies of different organs in an open system at 1.0 tesla (T) - Initial experience

OBJECTIVES

To assess the feasibility, image quality, and accuracy of freehand biopsies of liver, bone, muscle, vertebral disc, soft tissue, and other lesions using balanced steady-state free precession (SSFP, balanced fast field echo: bFFE), spoiled and nonspoiled gradient echo (FFE), and turbo spin echo (TSE) sequences for interactive continuous navigation in an open magnetic resonance imaging (MRI) system at 1.0 tesla (T).

METHODS

Twenty-six MR-guided biopsies (five liver, five bone, four muscle, four vertebral disc, one lung, one kidney, one suprarenal gland, and five soft or other tissue) were performed in 23 patients in a 1.0-T open magnetic resonance (MR) scanner (Panorama HFO, Philips Healthcare, Best, the Netherlands). A total of 42 samples were obtained. Depending on lesion size and location, 14-18-gauge MR-compatible biopsy sets with a length of 100 or 200 mm (Somatex Medical, Teltow, Germany), 14-18-gauge MR-compatible semiautomatic biopsy guns with a length of 100 or 150 mm (Invivo, Schwerin, Germany), or 11-gauge MR-compatible bone marrow biopsy needles with a length of 100 mm (Somatex Medical, Teltow, Germany) were employed.

RESULTS

All lesions were visible with continuous interactive imaging. Our initial results indicate that bFFE is particularly suitable for fast-moving organs (pulmonary, paracardial); moving organs are targeted better with T1-weighted (T1W) TSE, T1W FFE (liver) or T2-weighted (T2W) TSE (complicated cysts, adrenal glands), and static organs are successfully approached with proton density (PD) (spine) or T1W TSE (peripheral bones, musculoskeletal system). No adverse events related to the use of MRI were obtained. No complications occurred according to the Society of Interventional Radiology (SIR) clinical practice guidelines.

CONCLUSION

Applying tailored interactive dynamic imaging sequences for continuous navigation to liver, bone, muscle, vertebral disc, soft tissue, and other lesions can improve the feasibility, image quality, and interventional accuracy of freehand MR-guided biopsies and may hence reduce the risk of complications.

Passive artifact behavior prediction of interventional tools in high-field MRI using a 0.55T portable benchtop MR scanner

Using magnetic resonance imaging (MRI) for guiding minimally invasive interventions requires surgical devices which on one hand are visible in the MR image but on the other hand do not generate large artifacts, which distort the overall imaging process. Passive markers are one way to visualize devices such as catheters or biopsy needles in MRI. The evaluation of newly developed passive markers usually requires access to high-field MRI scanners (1.5 T and 3 T). This makes the practical evaluation time-consuming and expensive. Hence, we propose to use a high-resolution, low field (0.55 T) benchtop MRI system to quantify the size of an artifact and to make a prediction for its corresponding size in a clinical high-field system. For the evaluation of the proposed method, catheters coated with different passive marker materials in varying concentrations were imaged in the 0. 55 T benchtop MRI scanner as well as in clinical 3 T MRI system using FLASH sequences. The experimental results revealed that an artifact prediction based on measurements in the 0. 55 T is possible for the tested marker materials. Hence, the proposed approach has a high potential for testing newly developed medical devices at a low cost, in less time and during the development process for fast feedback.

Evaluation of model-based deformation correction in image-guided liver surgery via tracked intraoperative ultrasound

Soft-tissue deformation represents a significant error source in current surgical navigation systems used for open hepatic procedures. While numerous algorithms have been proposed to rectify the tissue deformation that is encountered during open liver surgery, clinical validation of the proposed methods has been limited to surface-based metrics, and subsurface validation has largely been performed via phantom experiments. The proposed method involves the analysis of two deformation-correction algorithms for open hepatic image-guided surgery systems via subsurface targets digitized with tracked intraoperative ultrasound (iUS). Intraoperative surface digitizations were acquired via a laser range scanner and an optically tracked stylus for the purposes of computing the physical-to-image space registration and for use in retrospective deformation-correction algorithms. Upon completion of surface digitization, the organ was interrogated with a tracked iUS transducer where the iUS images and corresponding tracked locations were recorded. Mean closest-point distances between the feature contours delineated in the iUS images and corresponding three-dimensional anatomical model generated from preoperative tomograms were computed to quantify the extent to which the deformation-correction algorithms improved registration accuracy. The results for six patients, including eight anatomical targets, indicate that deformation correction can facilitate reduction in target error of [Formula: see text].

Laparoscopic radiofrequency ablation of liver tumors: comparison of MR guidance versus conventional laparoscopic ultrasound for needle positioning in a phantom model

Laparoscopic radiofrequency ablation (LapRFA) is an established procedure for liver tumors in patients who are unsuitable for resection. A novel technique of magnetic resonance (MR) guided needle positioning during LapRFA was developed and compared to conventional ultrasound (US) guidance in a phantom model. MR-guided procedures were conducted in a 1.0 tesla high field open MR using an MR compatible endoscope and camera. The ultrasound-guided procedure was performed with a clinically established laparoscopy setup and a 2D laparoscopic US probe. During both techniques an identical monopolar non-ferromagnetic RFA needle and a silicon-based phantom model were applied. Finally needle positioning was performed by two surgeons and one interventionalist. Time to needle placement and number of trials were recorded and statistically analyzed. MR-guided needle positioning under laparoscopic control was technically feasible. Average time to correct needle placement was 2' 6″ in the LapUS group and 1' 54″ in the MR group. The number of trials was 3.2 in the LapUS group and 2.6 in the MR group. Image quality was assessed by all participants. MR images showed a better tissue to tumor contrast and allowed an improved orientation due to multiplanar visualization. MR-guided laparoscopic RFA is a promising technique offering multiplanar needle positioning with high soft tissue contrast with immediate therapy control. In a phantom model it showed comparable results regarding needle positioning to the established technique of laparoscopic US guidance.

Laser-induced thermotherapy (LITT)--evaluation of a miniaturised applicator and implementation in a 1.0-T high-field open MRI applying a porcine liver model

OBJECTIVE

To evaluate the feasibility and safety of a novel LITT applicator for thermal ablation of liver malignancies in 1.0-T high-field open MRI.

METHODS

A miniaturised 6-F double-tubed protective catheter with a closed cooling circuit was used with a flexible laser fibre, connected to a 1,064-nm Nd:YAG laser and evaluated in non-perfused porcine livers (18-30 W for 10-20 min, 2-W and 2-min increments; n = 210/applicator) in reference to an established 9-F system. As a proof of concept, MR-guided LITT was performed in two healthy domestic pigs in high-field open MRI.

RESULTS

Ex-vivo, the coagulation volumes induced by the 6-F system with maximum applicable power of 24 W for 20 min (33.0 ± 4.4 cm(3)) did not differ significantly from those set with the 9-F system at 30 W for 20 min (35.8 ± 4.9 cm(3)) (p = 0.73). A flow-rate of 15 ml/min of the cooling saline solution was sufficient. MR navigation and thermometry were feasible.

CONCLUSION

The miniaturised 6-F applicator can create comparable coagulation sizes to those of the 9-F system. Applicator guidance and online-thermometry in high-field open MRI are feasible.

Establishing Nd:YAG laser-based left lateral liver resection: comparison of open, laparoscopic, and hand-assisted approach in a porcine Model

INTRODUCTION

Aim of this study was to assess the feasibility and safety of a 1064 nm Nd:YAG laser for left lateral liver resection in a porcine model. Laparoscopy and hand-assisted laparoscopic surgery were evaluated and compared with conventional open surgery.

METHODS

Animals were randomized for open, hand assisted, and laparoscopic left lateral liver lobe resection. Primary endpoints were intraoperative blood loss, dissection time, laboratory changes, and abdominal wall adhesions. In addition intraoperative cardiopulmonary data, postoperative clinical parameters, and necropsy findings were analyzed.

RESULTS

Liver resection was successful in all animals without intraoperative or postoperative mortality. Laparoscopic dissection time was significantly increased. Average blood loss was 340 mL for open surgery and 320 mL for hand-assisted surgery. Blood loss during laparoscopy was significantly smaller with a mean of 180 mL. Postmortem findings revealed extensive adhesions for open surgery whereas hand assisted and laparoscopic animals showed limited adhesions in the upper abdomen.

CONCLUSIONS

Nd:YAG laser-based liver resection is a potentially safe and feasible technique. The minimal access approaches show comparable results to the open technique with reduced abdominal trauma and less adhesions. Laparoscopy was more time consuming but showed reduced blood loss compared with both other groups.

Initial results of MR-guided liver resection in a high-field open MRI

BACKGROUND

The goal of this study was to evaluate high-field open magnetic resonance imaging (MRI) for intraoperative real-time imaging during hand-assisted laparoscopic liver resection. MR guidance has several advantages compared to ultrasound and may represent a future technique for abdominal surgery. Various MRI-safe and -compatible instruments were developed, tested, and applied to realize minimally invasive liver surgery under MR guidance. As proof of the concept, liver resection was performed in a porcine model.

METHODS

All procedures were conducted in a 1.0-T open MRI unit. Imaging quality and surgical results were documented during three cadaveric and two live animal procedures. A nonferromagnetic hand port was used for manual access and the liver tissue was dissected using a Nd:YAG laser.

RESULTS

The intervention time ranged from 126 to 145 min, with a dissection time from 11 to 15 min. Both live animals survived the intervention with a blood loss of 250 and 170 ml and a specimen weight of 138 and 177 g. A dynamic T2W fast spin-echo sequence allowed real-time imaging (1.5 s/image) with good delineation of major and small hepatic vessels. The newly developed MR-compatible instruments and camera system caused only minor interferences and artifacts of the MR image.

CONCLUSION

MR-guided liver resection is feasible and provides additional image information to the surgeon. We conclude that MR-guided laparoscopic liver resection improves the anatomical orientation and may increase the safety of future minimally invasive liver surgery.

Evaluation of magnetic resonance imaging-compatible needles and interactive sequences for musculoskeletal interventions using an open high-field magnetic resonance imaging scanner

In this article, we study in vitro evaluation of needle artefacts and image quality for musculoskeletal laser-interventions in an open high-field magnetic resonance imaging (MRI) scanner at 1.0T with vertical field orientation. Five commercially available MRI-compatible puncture needles were assessed based on artefact characteristics in a CuSO4 phantom (0.1%) and in human cadaveric lumbar spines. First, six different interventional sequences were evaluated with varying needle orientation to the main magnetic field B0 (0 degrees to 90 degrees ) in a sequence test. Artefact width, needle-tip error, and contrast-to-noise ratio (CNR) were calculated. Second, a gradient-echo sequence used for thermometric monitoring was assessed and in varying echo times, artefact width, tip error, and signal-to-noise ratio (SNR) were measured. Artefact width and needle-tip error correlated with needle material, instrument orientation to B0, and sequence type. Fast spin-echo sequences produced the smallest needle artefacts for all needles, except for the carbon fibre needle (width <3.5 mm, tip error <2 mm) at 45 degrees to B0. Overall, the proton density-weighted spin-echo sequences had the best CNR (CNR(Muscle/Needle) >16.8). Concerning the thermometric gradient echo sequence, artefacts remained <5 mm, and the SNR reached its maximum at an echo time of 15 ms. If needle materials and sequences are accordingly combined, guidance and monitoring of musculoskeletal laser interventions may be feasible in a vertical magnetic field at 1.0T.