Design and Development of a Lorentz Force-Based MRI-Driven Neuroendoscope

TL;DR

This paper presents the design of an MRI-driven neuroendoscope utilizing Lorentz forces for precise steering and tissue manipulation, aiming to enhance minimally invasive brain surgery with integrated MRI and endoscopic guidance.

Contribution

It introduces a novel MRI-driven neuroendoscope that uses Lorentz forces for steering and tissue ablation, advancing minimally invasive neurosurgical tools.

Findings

Precise steering within the lateral ventricle demonstrated.

Grasping forces up to 31 mN achieved.

Tissue ablation possible with power as low as 0.69 mW.

Abstract

The introduction of neuroendoscopy, microneurosurgery, neuronavigation, and intraoperative imaging for surgical operations has made significant improvements over other traditionally invasive surgical techniques. The integration of magnetic resonance imaging (MRI)-driven surgical devices with intraoperative imaging and endoscopy can enable further advancements in surgical treatments and outcomes. This work proposes the design and development of an MRI-driven endoscope leveraging the high (3-7 T), external magnetic field of an MR scanner for heat-mitigated steering within the ventricular system of the brain. It also demonstrates the effectiveness of a Lorentz force-based grasper for diseased tissue manipulation and ablation. Feasibility studies show the neuroendoscope can be steered precisely within the lateral ventricle to locate a tumor using both MRI and endoscopic guidance. Results also indicate grasping forces as high as 31 mN are possible and power inputs as low as 0.69 mW can cause cancerous tissue ablation. These findings enable further developments of steerable devices using MR imaging integrated with endoscopic guidance for improved outcomes.