@article{oai:shiga-med.repo.nii.ac.jp:00003495,
 author = {山田, 篤史 and 仲, 成幸 and 村上, 耕一郎 and 谷, 徹 and 森川, 茂廣 and YAMADA, Atsushi and Tokuda, Junichi and NAKA, Shigeyuki and MURAKAMI, Koichiro and TANI, Tohru and MORIKAWA, Shigehiro},
 journal = {Medical physics},
 month = {Dec},
 note = {PURPOSE:
Image guidance is crucial for percutaneous tumor ablations, enabling accurate needle-like applicator placement into target tumors while avoiding tissues that are sensitive to injury and/or correcting needle deflection. Although ultrasound (US) is widely used for image guidance, magnetic resonance (MR) is preferable due to its superior soft tissue contrast. The objective of this study was to develop and evaluate an MR and US multi-modal image-guided navigation system with a needle manipulator to enable US-guided applicator placement during MR imaging (MRI)-guided percutaneous tumor ablation., METHODS:
The MRI-compatible needle manipulator with US probe was installed adjacent to a 3 Tesla MRI scanner patient table. Coordinate systems for the MR image, patient table, manipulator, and US probe were all registered using an optical tracking sensor. The patient was initially scanned in the MRI scanner bore for planning and then moved outside the bore for treatment. Needle insertion was guided by real-time US imaging fused with the reformatted static MR image to enhance soft tissue contrast. Feasibility, targeting accuracy, and MR compatibility of the system were evaluated using a bovine liver and agar phantoms., RESULTS:
Targeting error for 50 needle insertions was 1.6 ± 0.6 mm (mean ± standard deviation). The experiment confirmed that fused MR and US images provided real-time needle localization against static MR images with soft tissue contrast., CONCLUSIONS:
The proposed MR and US multi-modal image-guided navigation system using a needle manipulator enabled accurate needle insertion by taking advantage of static MR and real-time US images simultaneously. Real-time visualization helped determine needle depth, tissue monitoring surrounding the needle path, target organ shifts, and needle deviation from the path., Journal Article},
 title = {Magnetic resonance and ultrasound image-guided navigation system using a needle manipulator.},
 year = {2019}
}