Magnetic resonance-guided placement of aortic stents grafts: feasibility with real-time magnetic resonance fluoroscopy

Current State of MRI-Guided Endovascular Arterial Interventions: A Systematic Review of Preclinical and Clinical Studies

BACKGROUND

MRI guidance of arterial endovascular interventions could be beneficial as it does not require radiation exposure, allows intrinsic blood-tissue contrast, and enables three-dimensional and functional imaging, however, clinical applications are still limited.

PURPOSE

To review the current state of MRI-guided arterial endovascular interventions and to identify the most commonly reported challenges.

STUDY TYPE

Systematic review.

POPULATION

Pubmed, Embase, Web of Science, and The Cochrane Library were systematically searched to find relevant articles. The search strategy combined synonyms for vascular pathology, endovascular therapy, and real-time MRI guidance.

FIELD STRENGTH/SEQUENCE

No field strength or sequence restrictions were applied.

ASSESSMENT

Two reviewers independently identified and reviewed the original articles and extracted relevant data.

STATISTICAL TESTS

Results of the included original articles are reported.

RESULTS

A total of 24,809 studies were identified for screening. Eighty-eight studies were assessed for eligibility, after which data were extracted from 43 articles (6 phantom, 33 animal, and 4 human studies). Reported technical success rates for animal and human studies ranged between 42% to 100%, and the average complication rate was 5.8% (animal studies) and 8.8% (human studies). Main identified challenges were related to spatial and temporal resolution as well as safety, design, and scarcity of current MRI-compatible endovascular devices.

DATA CONCLUSION

MRI guidance of endovascular arterial interventions seems feasible, however, included articles included mostly small single-center case series. Several hurdles remain to be overcome before larger trials can be undertaken. Main areas of research should focus on adequate imaging protocols with integrated tracking of dedicated endovascular devices.

MRI-guided endovascular intervention: current methods and future potential

INTRODUCTION

Image-guided endovascular interventions, performed using the insertion and navigation of catheters through the vasculature, have been increasing in number over the years, as minimally invasive procedures continue to replace invasive surgical procedures. Such endovascular interventions are almost exclusively performed under x-ray fluoroscopy, which has the best spatial and temporal resolution of all clinical imaging modalities. Magnetic resonance imaging (MRI) offers unique advantages and could be an attractive alternative to conventional x-ray guidance, but also brings with it distinctive challenges.

AREAS COVERED

In this review, the benefits and limitations of MRI-guided endovascular interventions are addressed, systems and devices for guiding such interventions are summarized, and clinical applications are discussed.

EXPERT OPINION

MRI-guided endovascular interventions are still relatively new to the interventional radiology field, since significant technical hurdles remain to justify significant costs and demonstrate safety, design, and robustness. Clinical applications of MRI-guided interventions are promising but their full potential may not be realized until proper tools designed to function in the MRI environment are available. Translational research and further preclinical studies are needed before MRI-guided interventions will be practical in a clinical interventional setting.

Optimizing imaging and reducing radiation exposure during complex aortic endovascular procedures

Improvements in endovascular technologies and development of custom-made fenestrated and branched endografts currently allow clinicians to treat complex aortic lesions such as thoraco-abdominal and aortic arch aneurysms once treatable with open repair only. These advances are leading to an increase in the complexity of endovascular procedures which can cause long operation times and high levels of radiation exposure. This in turn places pressure on the vascular surgery community to display more superior interventional skills and radiological practices. Advanced imaging technology in this context represents a strong pillar in the treatment toolbox for delivering the best care at the lowest risk level. Delivering the best patient care while managing the radiation and iodine contrast media risks, especially in frail and renal impaired populations, is the challenge aortic surgeons are facing. Modern hybrid rooms are equipped with a wide range of new imaging applications such as fusion imaging and cone-beam computed tomography (CBCT). If these technologies contribute to reducing radiation, they can be complex and intimidating to master. The aim of this review is to discuss the fundamentals of good radiological practices and to describe the various imaging tools available to the aortic surgeon, both those available today and those we anticipate will be available in the near future, from equipment to software, to perform safe and efficient complex endovascular procedures.

Magnetic Resonance-Guided Passive Catheter Tracking for Endovascular Therapy

The use of MR guidance for endovascular intervention is appealing because of its lack of ionizing radiation, high-contrast visualization of vessel walls and adjacent soft tissues, multiplanar capabilities, and potential to incorporate functional information such as flow, fluid dynamics, perfusion, and cardiac motion. This review highlights state-of-the-art imaging techniques and hardware used for passive tracking of endovascular devices in interventional MR imaging, including negative contrast, passive contrast, nonproton multispectral, and direct current techniques. The advantages and disadvantages of passive tracking relative to active tracking are also summarized.

MR fluoroscopy in vascular and cardiac interventions (review)

Vascular and cardiac disease remains a leading cause of morbidity and mortality in developed and emerging countries. Vascular and cardiac interventions require extensive fluoroscopic guidance to navigate endovascular catheters. X-ray fluoroscopy is considered the current modality for real time imaging. It provides excellent spatial and temporal resolution, but is limited by exposure of patients and staff to ionizing radiation, poor soft tissue characterization and lack of quantitative physiologic information. MR fluoroscopy has been introduced with substantial progress during the last decade. Clinical and experimental studies performed under MR fluoroscopy have indicated the suitability of this modality for: delivery of ASD closure, aortic valves, and endovascular stents (aortic, carotid, iliac, renal arteries, inferior vena cava). It aids in performing ablation, creation of hepatic shunts and local delivery of therapies. Development of more MR compatible equipment and devices will widen the applications of MR-guided procedures. At post-intervention, MR imaging aids in assessing the efficacy of therapies, success of interventions. It also provides information on vascular flow and cardiac morphology, function, perfusion and viability. MR fluoroscopy has the potential to form the basis for minimally invasive image-guided surgeries that offer improved patient management and cost effectiveness.

Carbon dioxide-enhanced CT-guided placement of aortic stent-grafts: feasibility in an animal model

PURPOSE

To test the feasibility of carbon dioxide (CO(2))-enhanced computed tomography (CT)-guided placement of infrarenal abdominal aortic stent-grafts in an animal model.

METHODS

Appearance of a stent-graft mounted on its deployment system and the feasibility of CT fluoroscopy-guided placement were analyzed in an in vitro setting. Five domestic pigs weighing 70 to 80 kg underwent CO(2)-enhanced 64-slice CT arteriography (CTA). After surgical exposure of the right iliac artery, an 18-mm stent-graft was advanced into the abdominal aorta. Infrarenal position of the graft was monitored using CT fluoroscopy with CO(2) administered intermittently in a flow-regulated manner using a computer-controlled injection system. After the final position of the stent-graft was determined, the graft was deployed under CT fluoroscopy guidance. Graft position was confirmed by contrast enhanced 64-slice CTA and conventional catheter angiography. To quantitatively assess the position of the stent-graft, the distance between the proximal stent struts and the radiopaque marker was determined using an electronic caliper.

RESULTS

CT-guided placement of infrarenal aortic stent-grafts was feasible in all animals without complications. CO(2)-enhanced CTA allowed for the identification of the renal arteries in all animals. CT fluoroscopy permitted the continuous online monitoring of stent deployment. In all animals, the grafts were placed without impairment of renal artery flow or stent-graft dislocation. The mean distance between the stent-graft and origin of the more caudal renal artery was 0.9+/-0.3 mm.

CONCLUSION

CO(2)-enhanced CT fluoroscopy permits the precise placement of infrarenal aortic stent-grafts in an animal model.

Interventional cardiovascular magnetic resonance: still tantalizing

The often touted advantages of MR guidance remain largely unrealized for cardiovascular interventional procedures in patients. Many procedures have been simulated in animal models. We argue these opportunities for clinical interventional MR will be met in the near future. This paper reviews technical and clinical considerations and offers advice on how to implement a clinical-grade interventional cardiovascular MR (iCMR) laboratory. We caution that this reflects our personal view of the "state of the art."

Feasibility of stent-graft placement with real-time MR fluoroscopy in a nonrigid aortic phantom

PURPOSE

To evaluate the feasibility of using real-time magnetic resonance (MR) fluoroscopic guidance to place a stent-graft mounted on a guide wire in a nonrigid aortic phantom.

MATERIALS AND METHODS

Real-time fast low-angle shot and true fast imaging with steady-state precession MR imaging sequences were used for device tracking. A modified fiber-optic guide wire and catheter embedded with titanium oxide in predefined positions were used for navigation in a homemade silicone thoracic aortic phantom.

RESULTS

Susceptibility artifacts caused by the modified guide wire and catheters mounted in the descending thoracic aorta of the phantom were found to enable adequate determination of the guide wire position in relation to the surrounding anatomy and to cause no image distortion. Real-time MR imaging enabled visualization of both the vessel lumen and the delivery system with the mounted stent-graft, providing an image quality sufficient for successful localization of the lesion and deployment of the stent-graft.

CONCLUSIONS

The results of this study prove the possibility of passive guidance in MR imaging-guided stent placement in vitro. The modified guide wire can be used with interventional commercial catheters and recent implant devices with selective tracking in the surrounding anatomy.

Intravascular magnetic resonance imaging

The purpose of this article is to review the current state of the art with respect to intravascular magnetic resonance imaging, including intravascular coils, their implementation for plaque identification and characterization, and strategies for future approaches to coronary imaging and other cardiovascular applications.

MR-guided endovascular interventions: a comprehensive review on techniques and applications

The magnetic resonance (MR) guidance of endovascular interventions is probably one of the greatest challenges of clinical MR research. MR angiography is not only an imaging tool for the vasculature but can also simultaneously depict high tissue contrast, including the differentiation of the vascular wall and perivascular tissues, as well as vascular function. Several hurdles had to be overcome to allow MR guidance for endovascular interventions. MR hardware and sequence design had to be developed to achieve acceptable patient access and to allow real-time or near real-time imaging. The development of interventional devices, both applicable and safe for MR imaging (MRI), was also mandatory. The subject of this review is to summarize the latest developments in real-time MRI hardware, MRI, visualization tools, interventional devices, endovascular tracking techniques, actual applications and safety issues.

An overview on the advances in cardiovascular interventional MR imaging

Interventional cardiovascular magnetic resonance imaging (iCMR) represents a new discipline whose systematic development will foster minimally invasive interventional procedures without radiation exposure. New generations of open, wide and short bore MR scanners and real time sequences made cardiovascular intervention possible. MR compatible endovascular catheters and guide-wires are needed for delivery of devices such as stents or atrial septal defect (ASD) closures. Catheter tracking is based on active and passive approaches. Currently performed MR-guided procedures are used to monitor, navigate and track endovascular catheters and to deliver local therapeutic agents to targets, such as infarcted myocardium and vascular walls. Heating of endovascular MR catheters, guide-wires and devices during imaging still presents high safety risks. MR contrast media improve the capabilities of MR imaging by enhancing blood signal, pathologic targets (such as myocardial infarctions and atherosclerotic plaques), endovascular catheters and by tracking injected therapeutic agents. Labeling injected soluble therapeutic agents, genes or cells with MR contrast media enables interventionalists to ensure the administration of the drugs in the target and to trace their distribution in the targets. The future clinical use of this iCMR technique requires (1) high spatial and temporal resolution imaging, (2) special catheters and devices and (3) effective therapeutic agents, genes or cells. These conditions are available at a low scale at the present time and need to be developed in the near future. Such progress will lead to improved patient care and minimize invasiveness.

Preliminary Results of Nonfluoroscopy-based 3D Navigation for Neurointerventional Procedures

PURPOSE

To investigate the capabilities of a neurovascular navigation prototype in phantom experiments.

MATERIALS AND METHODS

The proposed navigation system integrates three-dimensional (3D) visualization of the anatomy and real-time electromagnetic localization of the endovascular tools. A 3D model of an endovascular phantom was reconstructed from thresholded preprocedural computed tomographic (CT) data. The vascular model was aligned with the reference frame of an electromagnetic tracker by using paired-point matching based on eight external fiducials. The robustness and accuracy of the registration were evaluated in 29 experiments. A magnetically tracked catheter was inserted into the carotid artery of the phantom, and the navigation system was used to reach five predefined vascular landmarks. The spatial accuracy of the prototype was evaluated during 50 endovascular targeting attempts.

RESULTS

The navigation system achieved accurate co-registration of the location of a catheter inside a 3D reconstruction of a phantom vasculature. The experiments demonstrated the robustness of the registration, with a standard deviation for the translation and rotation components of 0.7 mm and 0.3 degrees , respectively. The maximal average error on the fiducials was 3.2 mm. Endovascular navigation by using the 3D real-time display was successfully performed with a mean overall accuracy of 2.7 mm +/- 0.7 and no projection limitation.

CONCLUSION

The authors developed a navigation system that provides real-time 3D visualization of the position of endovascular components in a neurovascular phantom. The preliminary in vitro experiments showed clinically acceptable accuracy.

Real-time vascular interventional magnetic resonance imaging

Endovascular stent-graft placement is emerging as a promising alternative to medical and surgical treatment of patients with diseases of the descending thoracic and abdominal aorta. Precise placement of the stentgraft, which is currently performed under x-ray control, remains, however, challenging as there are several shortcomings to fluoroscopic guidance beyond that related to the harmful effect of radiation exposure and nephrotoxic contrast media. While transesophageal echocardiography and intravascular ultrasound have been used as adjunct imaging modalities during endovascular stent-graft procedures to overcome the limitations of angiography, these techniques have not mitigated the need for fluoroscopy. Magnetic resonance imaging (MRI) guidance of vascular interventional procedures offers several potential advantages over fluoroscopy-guided techniques, including image acquisition in any desired orientation, superior 3D soft-tissue contrast with simultaneous visualization of the interventional device, absence of ionizing radiation, and avoidance of nephrotoxic contrast media. Magnetic resonance imaging is often used for pre-operative diagnosis of aortic disease and can provide all relevant information for the planning of endovascular stent-graft procedures as well as for accurate and immediate post-interventional evaluation. However, visualization of interventional instruments by MRI has proven to be the chief obstacle. This article will review current approaches that have been developed for depicting vascular instruments by MRI and will also discuss the first experimental experiences with MRI-guided endovascular stent-graft placement in a swine model of aortic dissection.

Delivery and assessment of endovascular stents to repair aortic coarctation using MR and X-ray imaging

PURPOSE

To investigate the utility of MR and X-ray imaging for characterizing aortic coarctation and flow, and guiding the endovascular catheter to place a stent to repair the coarctation.

MATERIALS AND METHODS

The descending aorta in eight dogs was looped with elastic band and tightened distal to the subclavian artery. Balanced fast field echo (bFFE) and velocity-encoded cine (VEC) MRI sequences were used for device tracking and measuring aortic flow. A T1-weighted fast-field echo sequence (T1-FFE) was used to visualize the coarctation and roadmap the aorta. Nitinol stents were guided by a nitinol guidewire and placed under MR guidance.

RESULTS

Aortic coarctation was visible on MR and X-ray imaging. The procedure success rate was 88%. VEC MRI measured the changes in aortic flow (baseline = 1.3 +/- 0.2, coarctation = 0.2 +/- 0.02, and stent placement = 0.8 +/- 0.1 liters/minute). A significant reduction in iliac blood pressure was measured after coarctation, but it was reversed by stent placement. The stent lumen was visible on X-ray fluoroscopy, but not on MRI.

CONCLUSION

Stent deployment to repair aortic coarctation is feasible under MR guidance. The combined use of MR and X-ray imaging is effective for anatomic and functional evaluation of aortic coarctation dilation, which may be crucial for optimal therapy.

In Vitro Evaluation of Current Thoracic Aortic Stent-Grafts for Real-time MR-Guided Placement

PURPOSE

To systematically evaluate the magnetic resonance imaging (MRI) characteristics of current thoracic aortic stent-graft devices before, during, and after in vitro deployment as a step toward real-time MRI-guided stent placement.

METHODS

Six stent-graft devices used for thoracic aortic repair were examined in a dedicated phantom model using a 1.5-T MRI scanner. First, the delivery systems with the mounted stent-graft were examined using real-time fast imaging with steady-state precession (TrueFISP) with Cartesian and radial k-space filling. TrueFISP imaging was subsequently used for real-time monitoring of stent-graft expansion. The deployed stent-grafts were then examined in a water bath containing gadolinium (1:40) with high-resolution T1-weighted 3D fast low-angle shot (FLASH) sequences. The images were analyzed for artifacts, radiofrequency caging effects, and device visualization quality.

RESULTS

Three delivery systems with mounted stent-grafts did not contain ferromagnetic elements and were well visualized. Imaging with radial k-space filling showed fewer artifacts than Cartesian imaging. Movement of the delivery system and stent-graft expansion of these devices were successfully demonstrated at a rate of up to 6 frames per second. Evaluation of the expanded stent-grafts revealed only minor susceptibility artifacts without relevant signal attenuation in the stent-graft lumen for 5 nitinol-based stent-grafts. Only a stainless steel-based stent-graft was associated with severe artifacts, thwarting visualization of its lumen or surroundings.

CONCLUSION

The present study shows that 3 nitinol-based thoracic stent-graft devices are potentially suited for real-time MRI-guided placement with respect to both the delivery system and the stent-graft itself. These observations provide the basis for the evaluation of MRI-guided stent-graft placement in vivo.

Feasibility of real-time magnetic resonance-guided stent-graft placement in a swine model of descending aortic dissection

AIMS

To evaluate the pre-clinical feasibility of real-time magnetic resonance imaging (rtMRI) to guide stent-graft placement for experimental aortic dissection (AD) and to alleviate disadvantages of ionising radiation and nephrotoxic contrast media. Endovascular stent-graft placement for thoracic aortic disease is usually performed under X-ray guidance. The feasibility of rtMRI-guided stent-graft placement is currently not known.

METHODS AND RESULTS

By using a catheter-based technique, dissections of the descending thoracic aorta were successfully created in eight domestic pigs. Subsequent implantation of commercially available, nitinol-based stent-grafts was performed entirely under rtMRI guidance. By pre-interventional MRI, the mean minimal true-lumen diameter was 0.9 (0.825-0.975) cm. rtMRI permitted not only the successful and safe device navigation within the true lumen from the iliac arteries to the thoracic aorta, but also the precise positioning and deployment of the stent-graft and safe withdrawal of the delivery catheter in seven of eight pigs. This was achieved without any other complications. After the stent-graft placement, MRI demonstrated complete obliteration of the false lumen, which was confirmed at autopsy. All stent-grafts were well expanded resulting in an increase in the size of the true-lumen diameter to 2.05 (1.925-2.1) cm (P=0.066 vs. baseline).

CONCLUSION

In experimental AD, rtMRI-guided endovascular stent-graft placement is feasible and safe and has the potential for mitigating radiation and contrast-related side effects. Additionally, it allows not only pre-interventional diagnosis and detailed anatomic diagnosis, but also permits immediate post-interventional, anatomical, and functional delineation of procedure success that may serve as a baseline for future comparison during follow-up.

High-resolution real-time spiral MRI for guiding vascular interventions in a rabbit model at 1.5T

PURPOSE

To study the feasibility of a combined high spatial and temporal resolution real-time spiral MRI sequence for guiding coronary-sized vascular interventions.

MATERIALS AND METHODS

Eight New Zealand White rabbits (four normal and four with a surgically-created stenosis in the abdominal aorta) were studied. A real-time interactive spiral MRI sequence combining 1.1 x 1.1 mm(2) in-plane resolution and 189-msec total image acquisition time was used to image all phases of an interventional procedure (i.e., guidewire placement, balloon angioplasty, and stenting) in the rabbit aorta using coronary-sized devices on a 1.5 T MRI system.

RESULTS

Real-time spiral MRI identified all rabbit aortic stenoses and provided high-temporal-resolution visualization of guide-wires crossing the stenoses in all animals. Angioplasty balloon dilatation and deployment of coronary-sized copper stents in the rabbit aorta were also successfully imaged by real-time spiral MRI.

CONCLUSION

Combining high spatial and temporal resolution with spiral MRI allows real-time MR-guided vascular intervention using coronary-sized devices in a rabbit model. This is a promising approach for guiding coronary interventions.

A system for real-time XMR guided cardiovascular intervention

The hybrid magnetic resonance (MR)/X-ray suite (XMR) is a recently introduced imaging solution that provides new possibilities for guidance of cardiovascular catheterization procedures. We have previously described and validated a technique based on optical tracking to register MR and X-ray images obtained from the sliding table XMR configuration. The aim of our recent work was to extend our technique by providing an improved calibration stage, real-time guidance during cardiovascular catheterization procedures, and further off-line analysis for mapping cardiac electrical data to patient anatomy. Specially designed optical trackers and a dedicated calibration object have resulted in a single calibration step that can be efficiently checked and updated before each procedure. An X-ray distortion model has been implemented that allows for distortion correction for arbitrary c-arm orientations. During procedures, the guidance system provides a real-time combined MR/X-ray image display consisting of live X-ray images with registered recently acquired MR derived anatomy. It is also possible to reconstruct the location of catheters seen during X-ray imaging in the MR derived patient anatomy. We have applied our registration technique to 13 cardiovascular catheterization procedures. Our system has been used for the real-time guidance of ten radiofrequency ablations and one aortic stent implantation. We demonstrate the real-time guidance using two exemplar cases. In a further two cases we show how off-line analysis of registered image data, acquired during electrophysiology study procedures, has been used to map cardiac electrical measurements to patient anatomy for two different types of mapping catheters. The cardiologists that have used the guidance system suggest that real-time XMR guidance could have substantial value in difficult interventional and electrophysiological procedures, potentially reducing procedure time and delivered radiation dose. Also, the ability to map measured electrical data to patient specific anatomy provides improved visualization and a path to investigation of cardiac electromechanical models.

Magnetic resonance imaging-guided vascular interventions

Magnetic resonance imaging (MRI), which provides superior soft-tissue imaging and no known harmful effects, has the potential as an alternative modality to guide various medical interventions. This review will focus on MR-guided endovascular interventions and present its current state and future outlook. In the first technical part, enabling technologies such as developments in fast imaging, catheter devices, and visualization techniques are examined. This is followed by a clinical survey that includes proof-of-concept procedures in animals and initial experience in human subjects. In preclinical experiments, MRI has already proven to be valuable. For example, MRI has been used to guide and track targeted cell delivery into or around myocardial infarctions, to guide atrial septal puncture, and to guide the connection of portal and systemic venous circulations. Several investigational MR-guided procedures have already been reported in patients, such as MR-guided cardiac catheterization, invasive imaging of peripheral artery atheromata, selective intraarterial MR angiography, and preliminary angioplasty and stent placement. In addition, MR-assisted transjugular intrahepatic portosystemic shunt procedures in patients have been shown in a novel hybrid double-doughnut x-ray/MRI system. Numerous additional investigational human MR-guided endovascular procedures are now underway in several medical centers around the world. There are also significant hurdles: availability of clinical-grade devices, device-related safety issues, challenges to patient monitoring, and acoustic noise during imaging. The potential of endovascular interventional MRI is great because as a single modality, it combines 3-dimensional anatomic imaging, device localization, hemodynamics, tissue composition, and function.

Real-time magnetic resonance-guided endovascular repair of experimental abdominal aortic aneurysm in swine

OBJECTIVES

This study tested the hypotheses that endografts can be visualized and navigated in vivo solely under real-time magnetic resonance imaging (rtMRI) guidance to repair experimental abdominal aortic aneurysms (AAA) in swine, and that MRI can provide immediate assessment of endograft apposition and aneurysm exclusion.

BACKGROUND

Endovascular repair for AAA is limited by endoleak caused by inflow or outflow malapposition. The ability of rtMRI to image soft tissue and flow may improve on X-ray guidance of this procedure.

METHODS

Infrarenal AAA was created in swine by balloon overstretch. We used one passive commercial endograft, imaged based on metal-induced MRI artifacts, and several types of homemade active endografts, incorporating MRI receiver coils (antennae). Custom interactive rtMRI features included color coding the catheter-antenna signals individually, simultaneous multislice imaging, and real-time three-dimensional rendering.

RESULTS

Eleven repairs were performed solely using rtMRI, simultaneously depicting the device and soft-tissue pathology during endograft deployment. Active devices proved most useful. Intraprocedural MRI provided anatomic confirmation of stent strut apposition and functional corroboration of aneurysm exclusion and restoration of laminar flow in successful cases. In two cases, there was clear evidence of contrast accumulation in the aneurysm sac, denoting endoleak.

CONCLUSIONS

Endovascular AAA repair is feasible under rtMRI guidance. Active endografts facilitate device visualization and complement the soft tissue contrast afforded by MRI for precise positioning and deployment. Magnetic resonance imaging also permits immediate post-procedural anatomic and functional evaluation of successful aneurysm exclusion.