Magnetic resonance elastography hardware design: a survey.

Magnetic resonance elastography (MRE) is an emerging technique capable of measuring the shear modulus of tissue. A suspected tumour can be identified by comparing its properties with those of tissues surrounding it; this can be achieved even in deep-lying areas as long as mechanical excitation is possible. This would allow non-invasive methods for cancer-related diagnosis in areas not accessible with conventional palpation. An actuating mechanism is required to generate the necessary tissue displacements directly on the patient in the scanner and three different approaches, in terms of actuator action and position, exist to derive stiffness measurements. However, the magnetic resonance (MR) environment places considerable constraints on the design of such devices, such as the possibility of mutual interference between electrical components, the scanner field, and radio frequency pulses, and the physical space restrictions of the scanner bore. This paper presents a review of the current solutions that have been developed for MRE devices giving particular consideration to the design criteria including the required vibration frequency and amplitude in different applications, the issue of MR compatibility, actuation principles, design complexity, and scanner synchronization issues. The future challenges in this field are also described.

A haptic unit designed for magnetic-resonance-guided biopsy.

The magnetic fields present in the magnetic resonance (MR) environment impose severe constraints on any mechatronic device present in its midst, requiring alternative actuators, sensors, and materials to those conventionally used in traditional system engineering. In addition the spatial constraints of closed-bore scanners require a physical separation between the radiologist and the imaged region of the patient. This configuration produces a loss of the sense of touch from the target anatomy for the clinician, which often provides useful information. To recover the force feedback from the tissue, an MR-compatible haptic unit, designed to be integrated with a five-degrees-of-freedom mechatronic system for MR-guided prostate biopsy, has been developed which incorporates position control and force feedback to the operator. The haptic unit is designed to be located inside the scanner isocentre with the master console in the control room. MR compatibility of the device has been demonstrated, showing a negligible degradation of the signal-to-noise ratio and virtually no geometric distortion. By combining information from the position encoder and force sensor, tissue stiffness measurement along the needle trajectory is demonstrated in a lamb liver to aid diagnosis of suspected cancerous tissue.

Applying tactile sensing with piezoelectric materials for minimally invasive surgery and magnetic-resonance-guided interventions.

Medical technologies have undergone significant development to overcome the problems inherent in minimally invasive surgery such as inhibited manual dexterity, reduced visual information, and lack of direct touch feedback to make it easier for surgeons to operate. A minimally invasive tool incorporating haptic feedback is being developed to increase the effectiveness of diagnostic procedures by providing force feedback. Magnetic resonance imaging guidance is possible to allow tool localization; however, this engenders the requirement of magnetic resonance compatibility on the device. This paper describes the work done towards developing a sensing device using piezoelectric sensor elements to locate subsurface inclusions in soft substrates, with its magnetic resonance compatibility tested in a 1.5 T scanner. Results show that the position of a hard inclusion can be determined.

A magnetic-resonance-compatible limb-positioning device to facilitate magic angle experiments in vivo.

Owing to their highly ordered structure, tendons and cartilage appear with low signal intensity when imaged using magnetic resonance imaging (MRI) scanners. A significant increase in signal can be observed when these structures are oriented at 55 degrees (termed the magic angle) with respect to the static field B0. There is a clear clinical importance in exploiting this effect as part of the diagnosis of injury. Experimental studies of this phenomenon have been made harder by the practical difficulties associated with tissue positioning and orientation in the confined environment of closed-bore scanners. An MRI-compatible mechatronic system has been developed, which is capable of positioning a number of limbs to a desired orientation inside the scanner, to be used as a diagnostic and research tool. It is actuated with a novel pneumatic motor consisting of a heavily geared-down air turbine, presenting high torques and good accuracy. The system is shown to be magnetic resonance compatible and the results of preliminary trials using the device to image the Achilles tendon of human volunteers at different orientations are presented. An increase of four fold to thirteen fold in signal intensity can be observed at the magic angle.