Magnetic resonance imaging properties of multimodality anthropomorphic silicone rubber phantoms for validating surgical robots and image guided therapy systems

Carling L. Cheung; Thomas Looi; James Drake; Peter C. W. Kim

doi:10.1117/12.908274

17 February 2012 Magnetic resonance imaging properties of multimodality anthropomorphic silicone rubber phantoms for validating surgical robots and image guided therapy systems

Carling L. Cheung, Thomas Looi, James Drake, Peter C. W. Kim

Author Affiliations +

Proceedings Volume 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling; 83161X (2012) https://doi.org/10.1117/12.908274
Event: SPIE Medical Imaging, 2012, San Diego, California, United States

Abstract

The development of image guided robotic and mechatronic platforms for medical applications requires a phantom model for initial testing. Finding an appropriate phantom becomes challenging when the targeted patient population is pediatrics, particularly infants, neonates or fetuses. Our group is currently developing a pediatricsized surgical robot that operates under fused MRI and laparoscopic video guidance. To support this work, we describe a method for designing and manufacturing silicone rubber organ phantoms for the purpose of testing the robotics and the image fusion system. A surface model of the organ is obtained and converted into a mold that is then rapid-prototyped using a 3D printer. The mold is filled with a solution containing a particular ratio of silicone rubber to slacker additive to achieve a specific set of tactile and imaging characteristics in the phantom. The expected MRI relaxation times of different ratios of silicone rubber to slacker additive are experimentally quantified so that the imaging properties of the phantom can be matched to those of the organ that it represents. Samples of silicone rubber and slacker additive mixed in ratios ranging from 1:0 to 1:1.5 were prepared and scanned using inversion recovery and spin echo sequences with varying TI and TE, respectively, in order to fit curves to calculate the expected T₁ and T₂ relaxation times of each ratio. A set of infantsized abdominal organs was prepared, which were successfully sutured by the robot and imaged using different modalities.

Citation Download Citation

Carling L. Cheung, Thomas Looi, James Drake, and Peter C. W. Kim "Magnetic resonance imaging properties of multimodality anthropomorphic silicone rubber phantoms for validating surgical robots and image guided therapy systems", Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83161X (17 February 2012); https://doi.org/10.1117/12.908274

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