Mohamed E. M. K. Abdelaziz1, Libaihe Tian1, Thomas Lottner2, Simon Reiss2, Klaus Düring3, Guang-Zhong Yang4, Michael Bock2, and Burak Temelkuran1
1Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom, 2Dept. of Radiology, Medical Physics, Medical Center, University of Freiburg, Freiburg, Germany, 3MaRVis Interventional GmBH, Krün, Germany, 4Shanghai Jiao Tong University, Shanghai, China
1Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom, 2Dept. of Radiology, Medical Physics, Medical Center, University of Freiburg, Freiburg, Germany, 3MaRVis Interventional GmBH, Krün, Germany, 4Shanghai Jiao Tong University, Shanghai, China
Real-time MR image guidance of a bespoke 7F steerable catheter was demonstrated in a vessel phantom in a clinical 3T MR scanner to evaluate its mechanical efficacy and MR visibility. The catheter could be probed efficiently and was visible over its entirety thanks to its MR visible pull-wires.
(a) Laser cut catheter tip with the positions of the additional tip markers labeled. (b) Rendering of the handle showing the dual-dials, mechanical locking mechanism for shape locking the catheter's distal end and a proximal luer lock for contrast agent injection and/or guidewire insertion through the central lumen of the catheter. (c) Catheter tip manipulation in 4-directions using the dials demonstrated in the handle design. (d) Handle functional prototype.
Sequence of steps showing the right renal artery probing (a-c) and subsequent contrast injection (d)