A Virtual Reality Guidance System for a Precise MRI Injection Robot

Abstract

A large number of robots have been developed for image-guided interventions, with increased precision and improved control methods enabling procedures involving complicated and sensitive anatomical targets such as the spinal cord. While image-guided controllers are capable of accurate positioning at, or even beyond, the resolution of the chosen imaging device, targets for interventions are often manually selected from the available imaging data. This work involves the development of an intuitive and immersive virtual reality tool for detecting and visualizing scanner image data during the operation of a precision MRI-guided robot. This tool is integrated into the workflow of the image guidance protocol. Automated surgical freedom analysis is performed with the intention of further augmenting the trajectory selection process. A user study gauges both expert and novice reactions to the system.