A study of hybrid navigation system for seamless MR image guided surgery

一种新的图像导航系统已成功地开发使用标准的高场MR系统和MR兼容的手术机器人，以协助图像引导穿刺。在该系统中，机器人在图像采集后立即自动追逐预设的目标点，而无需进行配准过程。通过沿着针道重建图像的监测，选择安全、最佳的穿刺路径，穿刺靶区后记录进针位置和方向。可以立即采集用于评价穿刺的MR图像，而无需定位图像。因此，在磁体内部和外部实现了无缝的MR图像引导外科手术。

A novel image navigation system has been successfully developed using a standard high-field MR system and an MR-compatible surgical robot to assist image-guided puncture. With this system, the robot automatically chased the preset target point immediately after the image acquisition without registration process. The safe and optimal puncture route could be selected while monitoring reconstructed images along the needle path. After the puncture of the target, the position and direction of the needle were recorded. MR images for the evaluation of the puncture could be immediately acquired without scout images. Thus, seamless MR image-guided surgical procedures were realized inside and outside the magnet.