Catheter tracking with phase information in a magnetic resonance scanner

Glass-Fiber-based MR-safe Guidewire for MR Imaging-guided Endovascular Interventions: In Vitro and Preclinical in Vivo Feasibility Study

Purpose To evaluate glass-fiber-based guidewires that are safe for magnetic resonance (MR) imaging-guided endovascular interventions by using a phantom and an in vivo swine model. Materials and Methods MR imaging-safe guidewires were made from micropultruded glass and/or aramid fibers and epoxy resin with diameters of 0.89 mm (0.035 inch) for standard and stiff guidewires and 0.36 mm (0.014 inch) for micro guidewires. MR imaging visibility and mechanical properties were assessed in a pulsatile flow model. After approval was obtained from the institutional animal care and use committee, MR imaging guidewires were evaluated for standard endovascular procedures in nine pigs. Real-time steady-state free-precession sequences were used for MR imaging-guided catheterization, balloon dilation, and stent implantation into aorto-iliac/visceral arteries and the vena cava (temporal resolution, five images per second; and spatial resolution, 150-mm field of view, and 128 × 128 matrix) with a 1.5-T clinical imager. Visualization with the guidewires was rated on a four-point scale, handling was rated on a three-point scale, and catheterization times for different vessel regions were determined by two interventional radiologists. Afterward, handling ratings and catheterization times were obtained for standard nitinol guidewires during x-ray-based fluoroscopy. Cannulation times, signal intensity in each vessel region, and visualization and handling ratings were measured for the MR imaging guidewires. Bland-Altman analysis was performed for inter- and intraobserver variability of cannulation time. Spearman rank correlation was used to compare handling of MR imaging guidewires and standard nitinol guidewires. Results MR imaging guidewires were characterized by good to excellent visibility, with a continuous artifact of 2 mm in diameter and 4 × 8-mm ball-shaped tip marker. Stiffness, flexibility, and guidance reflected comparable times for all in vitro and in vivo procedures with both the MR imaging and standard nitinol guidewires. Standard and micro MR imaging guidewires were most suitable for the iliac crossover maneuver. Phantom visceral artery cannulation was easier with standard and micro MR imaging guidewires. The stiff MR imaging guidewire provided the best support for cannulation of the swine aorta and vena cava. All interventional procedures were performed successfully without complications. Conclusion Preliminary results showed that the use of glass-fiber-based guidewires for evaluation of MR imaging-guided endovascular interventions is technically feasible and safe in a swine model, and potentially, in humans. ^© RSNA, 2017 Online supplemental material is available for this article.

Magnetic resonance imaging compatible remote catheter navigation system with 3 degrees of freedom

PURPOSE

To facilitate MRI-guided catheterization procedures, we present an MRI-compatible remote catheter navigation system that allows remote navigation of steerable catheters with 3 degrees of freedom.

METHODS

The system consists of a user interface (master), a robot (slave), and an ultrasonic motor control servomechanism. The interventionalist applies conventional motions (axial, radial and plunger manipulations) on an input catheter in the master unit; this user input is measured and used by the servomechanism to control a compact catheter manipulating robot, such that it replicates the interventionalist's input motion on the patient catheter. The performance of the system was evaluated in terms of MRI compatibility (SNR and artifact), feasibility of remote navigation under real-time MRI guidance, and motion replication accuracy.

RESULTS

Real-time MRI experiments demonstrated that catheter was successfully navigated remotely to desired target references in all 3 degrees of freedom. The system had an absolute value error of [Formula: see text]1 mm in axial catheter motion replication over 30 mm of travel and [Formula: see text] for radial catheter motion replication over [Formula: see text]. The worst case SNR drop was observed to be [Formula: see text]3 %; the robot did not introduce any artifacts in the MR images.

CONCLUSION

An MRI-compatible compact remote catheter navigation system has been developed that allows remote navigation of steerable catheters with 3 degrees of freedom. The proposed system allows for safe and accurate remote catheter navigation, within conventional closed-bore scanners, without degrading MR image quality.

Position and orientation measurement of susceptibility markers using spectrally selective spin-echo projections

PURPOSE

To develop an accurate technique for simultaneously measuring the position and orientation of interventional devices using a projection-based spectrally selective refocusing pulse sequence.

METHODS

Projections along physical axes using spectrally selective excitation were acquired to track a catheter. A 9F passive tracking device capable of generating controllable susceptibility artifacts using susceptibility materials (titanium and graphite) was attached to the catheter. A library of projections for different orientations of the device with respect to the main magnetic field were simulated offline. Cross-correlations with these templates were computed to determine the orientation and position of the device. A phantom study was performed to evaluate the accuracy of the tracking technique. The tracking technique was also evaluated in vivo in the carotid artery of a pig.

RESULTS

Simultaneous and accurate measurement of position and orientation of the tracking device was obtained in the phantom and in vivo studies with reasonable temporal resolution. For the phantom study, the average of absolute errors in the Z-, Y-, and X-axes are 0.37, 0.76, and 0.85 mm, respectively. The mean absolute error and standard deviation of orientation measurement are 1.5 and 1.1 degrees, respectively.

CONCLUSION

This positioning technique, in conjunction with a controllable tracking device, can provide accurate tracking of interventional devices in MR-guided interventions. Magn Reson Med 76:1563-1573, 2016. © 2015 International Society for Magnetic Resonance in Medicine.

Magnetic resonance visualization of conductive structures by sequence-triggered direct currents and spin-echo phase imaging

PURPOSE

Instrument visualization in interventional magnetic resonance imaging (MRI) is commonly performed via susceptibility artifacts. Unfortunately, this approach suffers from limited conspicuity in inhomogeneous tissue and disturbed spatial encoding. Also, susceptibility artifacts are controllable only by sequence parameters. This work presents the basics of a new visualization method overcoming such problems by applying sequence-triggered direct current (DC) pulses in spin-echo (SE) imaging. SE phase images allow for background free current path localization.

METHODS

Application of a sequence-triggered DC pulse in SE imaging, e.g., during a time period between radiofrequency excitation and refocusing, results in transient field inhomogeneities. Dependent on the additional z-magnetic field from the DC, a phase offset results despite the refocusing pulse. False spatial encoding is avoided by DC application during periods when read-out or slice-encoding gradients are inactive. A water phantom containing a brass conductor (water equivalent susceptibility) and a titanium needle (serving as susceptibility source) was used to demonstrate the feasibility. Artifact dependence on current strength and orientation was examined.

RESULTS

Without DC, the brass conductor was only visible due to its water displacement. The titanium needle showed typical susceptibility artifacts. Applying triggered DC pulses, the phase offset of spins near the conductor appeared. Because SE phase images are homogenous also in regions of persistent field inhomogeneities, the position of the conductor could be determined with high reliability. Artifact characteristic could be easily controlled by amperage leaving sequence parameters unchanged. For an angle of 30° between current and static field visualization was still possible.

CONCLUSIONS

SE phase images display the position of a conductor carrying pulsed DC free from artifacts caused by persistent field inhomogeneities. Magnitude and phase images are acquired simultaneously under the same conditions without the use of extra measurement time. The presented technique offers many advantages for precise instrument localization in interventional MRI.

A controllable susceptibility marker for passive device tracking

PURPOSE

To design and demonstrate a new susceptibility-based tracking device with an artifact that can be mechanically turned on and off, thus permitting tracking and imaging at the device tip with limited artifact.

METHODS

The magnetic susceptibilities of readily obtainable grades of titanium and graphite were measured. Using numerical optimization, layer thicknesses for three concentric cylinders were found where the field from the graphite layer maximally cancelled the fields from titanium layers. The tracking elements were fabricated for an outer diameter of 3 mm and attached to a catheter to show feasibility of detection in phantoms and in vivo.

RESULTS

The device was successfully integrated into a 9F catheter, and its use with conventional guidewires under fluoroscopy was demonstrated by guiding the catheter through the bifurcation into the carotid artery. MR images including the catheter tip were acquired with the device in both the "on" and "off" positions.

CONCLUSION

A new passive tracking device with a susceptibility effect that can be enabled and disabled by sliding one of the components was designed, fabricated, and demonstrated in phantoms and in vivo. The device may also be integrated into many different interventional MR devices such as needles, ultrasound transducers for prostate biopsy, or any catheter-based devices.

Tracking the position and rotational orientation of a catheter using a transmit array system

A new method for detecting the rotational orientation and tracking the position of an inductively coupled radio frequency (ICRF) coil using a transmit array system is proposed. The method employs a conventional body birdcage coil, but the quadrature hybrid is eliminated so that the two excitation channels can be used separately. The transmit array system provides RF excitations such that the body birdcage coil creates linearly polarized and changing RF pulses instead of a conventional rotational forward-polarized excitation. The receive coils and their operations are not modified. Inductively coupled RF coils are constructed on catheters for detecting rotational orientation and for tracking purposes. Signals from the anatomy and from tissue close to the ICRF coil are different due to the new RF excitation scheme: the ICRF coil can be separated from the anatomy in real time, and after doing so, a color-coded image is reconstructed. More importantly, this novel method enables a real-time calculation of the absolute rotational orientation of an ICRF coil constructed on a catheter. Modified FLASH and TrueFISP sequences are used for the experiments. The acquired images from this technique show the feasibility of different applications, such as catheter tracking. Furthermore, applications where knowledge of the rotational orientation of the catheter is important, such as magnetic resonance-guided endoluminal-focused ultrasound, RF ablation, side-looking optical imaging, and catheters with side ports for needles, become feasible with this method.