Sunram 7: An MR Safe Robotic System for Breast Biopsy

In breast cancer patients, some nodules are only visible on MRI, thus, requiring MRI-guidance to perform the biopsy. MRI interventions are cumbersome due to the magnetic field and the constrained working space. An MR safe robotic system actuated by pneumatic stepper motors may enable these procedures, improving both accuracy and image-guided navigation. A compact multipurpose pneumatic stepper motor has been designed with outer dimensions $(45 \times 40\times 15)\mathbf{mm}^{\mathbf{3}}$. This is configurable as a linear, rotational or curved stepper motor with a customizable step size and radius of curvature. Five copies of these motors actuate the Sunram 7 biopsy robot, of which the moving part (without protruding racks and tubes) measures $(130 \times 65\times 55)\mathbf{mm}^{\mathbf{3}}$. After manually choosing the target location and angle of approach, the needle is robotically inserted into the breast and the integrated pneumatic biopsy gun is fired to sample tissue from the lesion. The maximum torque of the presented motor is 0.61 N m at 6 bar which can be achieved using 13-teeth polycarbonate gears. Using 17-teeth gears for higher accuracy and a more convenient working pressure of 2 bar the maximum torque is 0.28 N m. The accuracy in free air of the Sunram 7 robot is 1.69mm and 1.72mm in X and Z-direction respectively, with a resulting 2-D error of 2.54 mm. The workspace volume is 4.1 L. When targeting 10 mm-sized lesions in phantoms under MRI guidance, Sunram 7 achieved a success rate of 68%. The minimum interval between two successive biopsies was 5:47 minutes. The presented multipurpose stepper motor has distinct advantages over previous designs in terms of robustness, customizability, printability and ease of integration in MR safe robotics. The Sunram 7 is able to perform accurate MRI-guided biopsies in a large workspace volume while reducing the intervention time when compared to the gold standard (i.e., MRI-guided free-hand biopsy)

Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions:A Pre-Clinical Study

Cardiovascular diseases are the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology are reduced recovery time, improvement of clinical skills and procedural facilitation. Currently, robotic assistance, precision, and stability of instrument manipulation are compensated by the lack of haptic feedback and an excessive amount of radiation to the patient. This paper proposes a novel master-slave robotic platform that aims to bring the haptic feedback benefit on the master side, providing an intuitive user interface, and clinical familiar workflow. The slave robot is capable of manipulating conventional catheters and guidewires in multi-modal imaging environments. The system has been initially tested in a phantom cannulation study under fluoroscopic guidance, evaluating its reliability and procedural protocol. As the slave robot has been entirely produced by additive manufacturing and using pneumatic actuation, MR compatibility is enabled and was evaluated in a preliminary study. Results of both studies strongly support the applicability of the robot in different imaging environments and prospective clinical translation

Clinical Application and Further Development of Augmented Reality Guidance for the Surgical Localization of Pediatric Chest Wall Tumors

Background: Surgical treatment of pediatric chest wall tumors requires accurate surgical planning and tumor localization to achieve radical resections while sparing as much healthy tissue as possible. Augmented Reality (AR) could facilitate surgical decision making by improving anatomical understanding and intraoperative tumor localization. We present our clinical experience with the use of an AR system for intraoperative tumor localization during chest wall resections. Furthermore, we present the pre-clinical results of a new registration method to improve our conventional AR system. Methods: From January 2021, we used the HoloLens 2 for pre-incisional tumor localization during all chest wall resections inside our center. A patient-specific 3D model was projected onto the patient by use of a five-point registration method based on anatomical landmarks. Furthermore, we developed and pre-clinically tested a surface matching method to allow post-incisional AR guidance by performing registration on the exposed surface of the ribs. Results: Successful registration and holographic overlay were achieved in eight patients. The projection seemed most accurate when landmarks were positioned in a non-symmetric configuration in proximity to the tumor. Disagreements between the overlay and expected tumor location were mainly due to user-dependent registration errors. The pre-clinical tests of the surface matching method proved the feasibility of registration on the exposed ribs. Conclusions: Our results prove the applicability of AR guidance for the pre- and post-incisional localization of pediatric chest wall tumors during surgery. The system has the potential to enable intraoperative 3D visualization, hereby facilitating surgical planning and management of chest wall resections

Design of an end-effector for robot-assisted ultrasound-guided breast biopsies

Purpose: The biopsy procedure is an important phase in breast cancer diagnosis. Accurate breast imaging and precise needle placement are crucial in lesion targeting. This paper presents an end-effector (EE) for robotic 3D ultrasound (US) breast acquisitions and US-guided breast biopsies. The EE mechanically guides the needle to a specified target within the US plane. The needle is controlled in all degrees of freedom (DOFs) except for the direction of insertion, which is controlled by the radiologist. It determines the correct needle depth and stops the needle accordingly. Method: In the envisioned procedure, a robotic arm performs localization of the breast, 3D US volume acquisition and reconstruction, target identification and needle guidance. Therefore, the EE is equipped with a stereo camera setup, a picobeamer, US probe holder, a three-DOF needle guide and a needle stop. The design was realized by prototyping techniques. Experiments were performed to determine needle placement accuracy in-air. The EE was placed on a seven-DOF robotic manipulator to determine the biopsy accuracy on a cuboid phantom. Results: Needle placement accuracy was 0.3 ± 1.5 mm in and 0.1 ± 0.36 mm out of the US plane. Needle depth was regulated with an accuracy of 100 µm (maximum error 0.89 mm). The maximum holding force of the stop was approximately 6 N. The system reached a Euclidean distance error of 3.21 mm between the needle tip and the target and a normal distance of 3.03 mm between the needle trajectory and the target. Conclusion: An all in one solution was presented which, attached to a robotic arm, assists the radiologist in breast cancer imaging and biopsy. It has a high needle placement accuracy, yet the radiologist is in control like in the conventional procedure

Loss of Dopamine Transporter Binding and Clinical Symptoms in Dementia With Lewy Bodies

Little is known about the underlying mechanisms of clinical symptoms in dementia with Lewy bodies. The aim of this study was to explore the association between loss of striatal dopamine transporter binding and symptoms in dementia with Lewy bodies. Thirty-five patients with dementia with Lewy bodies underwent single-photon emission computerized tomography brain imaging with N-ω-fluoropropyl-2β-carbomethoxy-3β-(4-iodophenyl)nortropane ([(123) I]FP-CIT). Associations between striatal binding ratios and motor (UPDRS), psychiatric (Neuropsychiatric Inventory; [NPI]), and cognitive (Mini-Mental State Examination [MMSE] and neuropsychological tests) symptoms were assessed by linear regression analysis. The explorative analysis showed that the motor UPDRS was negatively associated with putamen dopamine transporter binding, whereas no association with striatal dopamine transporter binding was found for total NPI, hallucinations, apathy, depression, anxiety, and MMSE scores. However, in post-hoc analysis, executive impairment was positively associated with dopamine transporter loss after adjustment of age and gender. Dopamine deficiency in patients with dementia with Lewy bodies was associated with severity of motor symptoms, but did not correlate significantly with ratings of neurobehavioral disturbances or overall cognitio

Early and presenting symptoms of dementia with lewy bodies

To explore the presenting and early symptoms of dementia with Lewy bodies (DLB). Patients with mild dementia fulfilling diagnostic criteria for DLB (n = 61) and Alzheimer's disease (AD) (n = 109) were recruited from outpatient dementia clinics in western Norway. At diagnosis, caregivers were asked which symptom had been the presenting symptom of dementia. Caregivers reported that memory impairment was the most common presenting symptom in DLB (57%), followed by visual hallucinations (44%), depression (34%), problem solving difficulties (33%), gait problems (28%), and tremor/stiffness (25%). In contrast, 99% of AD carers reported impaired memory as a presenting symptom, whereas visual hallucinations were a presenting symptom in 3% of the AD cases. DLB should be suspected in predementia cases with visual hallucination

(123I)FP-CIT SPECT in suspected dementia with Lewy bodies: a longitudinal case study

Little is known regarding the 'false-negative' or 'false-positive' striatal dopamine transporter binding on SPECT for the diagnosis of dementia with Lewy bodies (DLB). We explored the clinical course in patients fulfilling the criteria for clinical DLB with a normal ((123)I)FP-CIT SPECT (ie, SPECT scan negative, clinical features positive (S-CF+)) and patients not fulfilling DLB criteria with an abnormal scan (S+CF-). Longitudinal case study over 2-5 years. Consecutive referrals of patients with mild dementia to dementia clinics in western Norway. 50 patients (27 men and 23 women; mean age at baseline of 74 (range 52-88)) with ((123)I)FP-CIT SPECT images underwent cluster analysis: 20/50 patients allocated to a 'DLB' and 8 to a 'non-DLB' cluster were included. Scores on standardised clinical rating scales for hallucinations, parkinsonism, fluctuations, rapid eye movement (REM) sleep behaviour disorder and visually rated ((123)I)FP-CIT SPECT. During the follow-up period, in the S+CF- group (n=7), frequency and severity of DLB symptoms tended to increase, particularly parkinsonism (7/7) and cognitive fluctuations (7/7), while severity of visual hallucinations and REM sleep behaviour disorder remained stable. The S-CF+ (n=3) fulfilled the operationalised criteria for probable DLB both at baseline and at the end of the follow-up. The findings suggest that systematic visual analyses of ((123)I)FP-CIT SPECT can detect people with DLB prior to the development of the full clinical syndrome. In addition, the study indicates that some patients fulfilling clinical criteria for probable DLB have a normal scan, and further studies are required to characterise these patients bette

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OBJECTIVES: Little is known regarding the ‘false-negative’ or ‘false-positive’ striatal dopamine transporter binding on SPECT for the diagnosis of dementia with Lewy bodies (DLB). We explored the clinical course in patients fulfilling the criteria for clinical DLB with a normal ((123)I)FP-CIT SPECT (ie, SPECT scan negative, clinical features positive (S−CF+)) and patients not fulfilling DLB criteria with an abnormal scan (S+CF−). DESIGN: Longitudinal case study over 2–5 years. SETTING: Consecutive referrals of patients with mild dementia to dementia clinics in western Norway. PARTICIPANTS: 50 patients (27 men and 23 women; mean age at baseline of 74 (range 52–88)) with ((123)I)FP-CIT SPECT images underwent cluster analysis: 20/50 patients allocated to a ‘DLB’ and 8 to a ‘non-DLB’ cluster were included. OUTCOME MEASURES: Scores on standardised clinical rating scales for hallucinations, parkinsonism, fluctuations, rapid eye movement (REM) sleep behaviour disorder and visually rated ((123)I)FP-CIT SPECT. RESULTS: During the follow-up period, in the S+CF− group (n=7), frequency and severity of DLB symptoms tended to increase, particularly parkinsonism (7/7) and cognitive fluctuations (7/7), while severity of visual hallucinations and REM sleep behaviour disorder remained stable. The S−CF+ (n=3) fulfilled the operationalised criteria for probable DLB both at baseline and at the end of the follow-up. CONCLUSIONS: The findings suggest that systematic visual analyses of ((123)I)FP-CIT SPECT can detect people with DLB prior to the development of the full clinical syndrome. In addition, the study indicates that some patients fulfilling clinical criteria for probable DLB have a normal scan, and further studies are required to characterise these patients better

(123I)FP-CIT SPECT in suspected dementia with Lewy bodies:a longitudinal case study

OBJECTIVES: Little is known regarding the ‘false-negative’ or ‘false-positive’ striatal dopamine transporter binding on SPECT for the diagnosis of dementia with Lewy bodies (DLB). We explored the clinical course in patients fulfilling the criteria for clinical DLB with a normal ((123)I)FP-CIT SPECT (ie, SPECT scan negative, clinical features positive (S−CF+)) and patients not fulfilling DLB criteria with an abnormal scan (S+CF−). DESIGN: Longitudinal case study over 2–5 years. SETTING: Consecutive referrals of patients with mild dementia to dementia clinics in western Norway. PARTICIPANTS: 50 patients (27 men and 23 women; mean age at baseline of 74 (range 52–88)) with ((123)I)FP-CIT SPECT images underwent cluster analysis: 20/50 patients allocated to a ‘DLB’ and 8 to a ‘non-DLB’ cluster were included. OUTCOME MEASURES: Scores on standardised clinical rating scales for hallucinations, parkinsonism, fluctuations, rapid eye movement (REM) sleep behaviour disorder and visually rated ((123)I)FP-CIT SPECT. RESULTS: During the follow-up period, in the S+CF− group (n=7), frequency and severity of DLB symptoms tended to increase, particularly parkinsonism (7/7) and cognitive fluctuations (7/7), while severity of visual hallucinations and REM sleep behaviour disorder remained stable. The S−CF+ (n=3) fulfilled the operationalised criteria for probable DLB both at baseline and at the end of the follow-up. CONCLUSIONS: The findings suggest that systematic visual analyses of ((123)I)FP-CIT SPECT can detect people with DLB prior to the development of the full clinical syndrome. In addition, the study indicates that some patients fulfilling clinical criteria for probable DLB have a normal scan, and further studies are required to characterise these patients better

Cognitive executive impairment and dopaminergic deficits in de novo Parkinson's disease

Cognitive impairment in Parkinson's disease (PD) is common and does directly impact patients' everyday functioning. However, the underlying mechanisms of early cognitive decline are not known. This study explored the association between striatal dopaminergic deficits and cognitive impairment within a large cohort of early, drug-naïve PD patients and tested the hypothesis that executive dysfunction in PD is associated with striatal dopaminergic depletion. A cross-sectional multicenter cohort of 339 PD patients and 158 healthy controls from the Parkinson's Progression Markers Initiative study was analyzed. Each individual underwent cerebral single-photon emission CT (SPECT) and a standardized neuropsychological assessment with tests of memory as well as visuospatial and executive function. SPECT imaging was performed with [(123) I]FP-CIT, and specific binding ratios in left and right putamen and caudate nucleus were calculated. The association between specific binding ratios, cognitive domain scores, and age was analyzed using Pearson's correlations, partial correlation, and conditional process analysis. A small, but significant, positive association between total striatal dopamine transporter binding and the attention/executive domain was found (r = 0.141; P = 0.009) in PD, but this was not significant after adjusting for age. However, in a moderated mediation model, we found that cognitive executive differences between controls and patients with PD were mediated by an age-moderated striatal dopaminergic deficit. Our findings support the hypothesis that nigrostriatal dopaminergic deficit is associated with executive impairment, but not to memory or visuospatial impairment, in early P