MRI Compatible Surgical Robotics

Modeling of Interstitial Ultrasound Ablation for Continuous Applicator Rotation with MR Validation

Author(s): Katie Gandomi, Paulo Carvalho, Matthew Tarasek, Eric Fiveland, Chitresh Bhushan, Emery Williams, Paul Neubauer, Zhanyue Zhao, Julie Pilitsis, Desmond Yeo, Christopher Nycz, Everette C. Burdette, Gregory S. Fischer
Modeling of Interstitial Ultrasound Ablation for Continuous Applicator Rotation with MR Validation 170 177 IEEE Transactions on Biomedical Engineering (TBME)
Predictive modeling can play an important role in thermal ablative cancer treatments where estimated energy deposition may integrate into pre-operative planning software or combine with closed loop control. In this work, we develop a finite element model capable of simulating continuous rotation by a directional interstitial ultrasound applicator. The developed model simulates temperature maps for different rotation trajectories. The developed simulation was validated using magnetic resonance thermal imaging and demonstrated performance suitable for real-time control of robotically actuated conformal tumor ablation. read more