Retrospective 3D motion correction using spherical navigator echoes.

PURPOSE: To develop and evaluate a rapid spherical navigator echo (SNAV) motion correction technique, then apply it for retrospective correction of brain images. METHODS: The pre-rotated, template matching SNAV method (preRot-SNAV) was developed in combination with a novel hybrid baseline strategy, which includes acquired and interpolated templates. Specifically, the SNAV templates are only rotated around X- and Y-axis; for each rotated SNAV, simulated baseline templates that mimic object rotation about the Z-axis were interpolated. The new method was first evaluated with phantom experiments. Then, a customized SNAV-interleaved gradient echo sequence was used to image three volunteers performing directed head motion. The SNAV motion measurements were used to retrospectively correct the brain images. Experiments were performed using a 3.0T whole-body MRI scanner and both single and 8-channel head coils. RESULTS: Phantom rotations and translations measured using the hybrid baselines agreed to within 0.9° and 1mm compared to those measured with the original preRot-SNAV method. Retrospective motion correction of in vivo images using the hybrid preRot-SNAV effectively corrected for head rotation up to 4° and 4mm. CONCLUSIONS: The presented hybrid approach enables the acquisition of pre-rotated baseline templates in as little as 2.5s, and results in accurate measurement of rotations and translations. Retrospective 3D motion correction successfully reduced motion artifacts in vivo.

Design and evaluation of an MRI-compatible linear motion stage.

PURPOSE: To develop and evaluate a tool for accurate, reproducible, and programmable motion control of imaging phantoms for use in motion sensitive magnetic resonance imaging (MRI) appli cations. METHODS: In this paper, the authors introduce a compact linear motion stage that is made of nonmagnetic material and is actuated with an ultrasonic motor. The stage can be positioned at arbitrary positions and orientations inside the scanner bore to move, push, or pull arbitrary phantoms. Using optical trackers, measuring microscopes, and navigators, the accuracy of the stage in motion control was evaluated. Also, the effect of the stage on image signal-to-noise ratio (SNR), artifacts, and B0 field homogeneity was evaluated. RESULTS: The error of the stage in reaching fixed positions was 0.025 ± 0.021 mm. In execution of dynamic motion profiles, the worst-case normalized root mean squared error was below 7% (for frequencies below 0.33 Hz). Experiments demonstrated that the stage did not introduce artifacts nor did it degrade the image SNR. The effect of the stage on the B0 field was less than 2 ppm. CONCLUSIONS: The results of the experiments indicate that the proposed system is MRI-compatible and can create reliable and reproducible motion that may be used for validation and assessment of motion related MRI applications.

Design, development and evaluation of a compact telerobotic catheter navigation system.

BACKGROUND: Remote catheter navigation systems protect interventionalists from scattered ionizing radiation. However, these systems typically require specialized catheters and extensive operator training. METHODS: A new compact and sterilizable telerobotic system is described, which allows remote navigation of conventional tip-steerable catheters, with three degrees of freedom, using an interface that takes advantage of the interventionalist's existing dexterity skills. The performance of the system is evaluated ex vivo and in vivo for remote catheter navigation and ablation delivery. RESULTS: The system has absolute errors of 0.1 ± 0.1 mm and 7 ± 6° over 100 mm of axial motion and 360° of catheter rotation, respectively. In vivo experiments proved the safety of the proposed telerobotic system and demonstrated the feasibility of remote navigation and delivery of ablation. CONCLUSION: The proposed telerobotic system allows the interventionalist to use conventional steerable catheters; while maintaining a safe distance from the radiation source, he/she can remotely navigate the catheter and deliver ablation lesions. Copyright © 2015 John Wiley & Sons, Ltd.

A magnetic-resonance-imaging-compatible remote catheter navigation system.

A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a pair of optical encoders, and a custom embedded system relays the motions to a pair of ultrasonic motors. The ultrasonic motors drive the patient catheter (slave) within the MRI scanner, replicating the motion of the input catheter. The performance of the remote catheter navigation system was evaluated in terms of accuracy and delay of motion replication outside and within the bore of the magnet. While inside the scanner bore, motion accuracy was characterized during the acquisition of frequently used imaging sequences, including real-time gradient echo. The effect of the catheter navigation system on image signal-to-noise ratio (SNR) was also evaluated. The results show that the master-slave system has a maximum time delay of 41 ± 21 ms in replicating motion; an absolute value error of 2 ± 2° was measured for radial catheter motion replication over 360° and 1.0 ± 0.8 mm in axial catheter motion replication over 100 mm of travel. The worst-case SNR drop was observed to be 2.5%.