Marvel Medtech’s iSolada™ iMR-IGI™ system is an enabling technology that combines precision MRI-compatible multi-axis robotics, a real-time imaging interface to the MRI scanner, MRI radio frequency (RF) receiver coils, and a Clinical User Interface (CUI) for intervention planning, monitoring and interactive control.
iSolada™ is configured as a fully integrated add-on accessory system targeted for the installed base of 1.5 Tesla whole body MRI scanners in broad clinical use today (est. at 6150 MRI scanners in U.S., 15,000 global), but can be sold with new MRI systems (e.g. GE, Siemens, etc.) as well.
This proof-of-concept video clip shows the view from the iSolada™ CUI during a simulation of interactive MR Imaging Guided Biopsy (iMR-IGB™) of a breast lesion. (The video is CUI screen capture of an actual MR imaging demonstration.) A previously acquired MR imaging volume dataset of a breast phantom is first loaded as a ‘roadmap’ into the CUI. The roadmap dataset is registered to the MRI scanner’s coordinate system, then a target is identified and selected within the roadmap dataset. Once the selected target location is confirmed, the CUI determines the radial path to the target and this path is set as the trocar trajectory. After confirming the trajectory path, real-time imaging is started. The right panel shows the real-time image coming from the scanner, while the left panel continues to show the roadmap view. The in-bore robot is initialized, homing of the robot is confirmed and the selected target is set for the robot. While ‘holding’ the ‘Aim’ button, the robot moves the trocar into position at the defined trajectory path. This trocar movement is tracked with an overlay (pink dot) showing the trocar tip on both the real-time and roadmap image panels. When ‘Aiming’ is completed, the Aim button changes color from green to yellow. Then, while holding the ‘Insert’ button, the trocar tip is advanced to the specified target. (Note the lack of imaging artifacts during the robotic movements.) The trocar insertion into the phantom is visible in real-time in the right panel, and tracked by the pink dot overlay in the roadmap (left) panel. When completed, the ‘Insert’ button changes from green to yellow. If the button is ‘released’ during insertion, the robot stops. Pressing the button continues the insertion, or pressing ‘Retract’ would reverse the insertion motion. After completing the insertion movement, the real-time view is switched from a ‘coronal’ view to a ‘side’ view for verification of trocar insertion position, then switched back to the coronal view. The trocar is then retracted.