Design and control of needle positioner for MRI-guided laser ablation of the liver

This paper presents the design and control of a pneumatic needle positioner for laser ablation of liver tumors under guidance by Magnetic Resonance Imaging (MRI). The prototype was developed to provide accurate point-to-point remote positioning of a needle guide inside an MR scanner with the aim of evaluating the potential advantages over the manual procedure. In order to minimize alterations to the MR environment the system employs plastic pneumatic actuators and 9 m long supply lines connecting with the control hardware located outside the magnet room. An optimized Sliding Mode Control (SMC) scheme was designed for the position control of the device. Wireless micro-coil fiducials are used for automatic registration in the reference frame of the MR scanner. The MRI-compatibility and the accuracy of the prototype are demonstrated with experiments in the MR scanner.