Cape Town - 2026 ISMRM-ISMRT Annual Meeting and Exhibition
9 May 2026 – 14 May 2026 · Cape Town, South Africa
369-06-002 ISMRM Abstract

Enabling MR-Guidance of Magnetically-Actuated Robotic Catheter Interventions Using Interleaved Imaging and Actuation

Primary: Interventional - MR-Guided Interventions
Secondary: Physics & Engineering - Interventional Devices
369-06-002 · Advances in Interventional MRI: Guidance, Motion Management, and Precision Treatment Technologies · Monday, 11 May, 5:05 PM–6:00 PM · Digital Posters Row J
Keywords: Artifacts Interventional Devices MR-Guided Interventions Interventional cmr Interventional MRI
Accepted
Ridaa Z Ali1, Dominique Franson2, Isabella D Hansen1, Tobias Cowles1, Daniel A Herzka3,4,5, Mark Griswold3,6,7,8,9, Murat C Cavusoglu1
1Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, United States of America
2Siemens Medical Solutions USA, Inc., Malvern, United States of America
3Department of Radiology, Case Western Reserve University, Cleveland, United States of America
4Case Western Reserve University School of Medicine, Cleveland, United States of America
5Department of Radiology, Case Western Reserve University School of Medicine, Cleveland, United States of America
6Department of Biomedical Engineering, Case Western Reserve University, Cleveland, United States of America
7Department of Radiology, University Hospitals, Cleveland, United States of America
8University Hospitals Cleveland Medical Center, Cleveland, Ohio, United States of America
9Department of Radiology, University Hospitals Cleveland Medical Center, Cleveland, Ohio, United States of America
Presenting Author: Rasim Boyacioglu

Synopsis

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References

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2. Liu T, Poirot NL, Franson D, et al. Modeling and Validation of the Three-Dimensional Deflection of an MRI-Compatible Magnetically Actuated Steerable Catheter. IEEE Trans Biomed Eng. 2016;63(10):2142-2154. doi:10.1109/TBME.2015.2510743 [doi]
3. Liu T, Lombard Poirot N, Greigarn T, et al. Design of a Magnetic Resonance Imaging Guided Magnetically Actuated Steerable Catheter. J Med Device. 2017;11(2):0210041-2100411. doi:10.1115/1.4036095 [doi]
4. Liu T, Jackson R, Franson D, et al. Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System. IEEE ASME Trans Mechatron. 2017;22(4):1765-1776. doi:10.1109/TMECH.2017.2704526 [doi]
5. Tuna EE, Liu T, Jackson RC, et al. Analysis of dynamic response of an MRI-guided magnetically-actuated steerable catheter system. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018;2018:1-9. doi:10.1109/IROS.2018.8594308 [doi]
6. Standard Test Method for Evaluation of MR Image Artifacts from Passive Implants.2024.
7. Greigarn T, Jackson R, Çavuşoğlu MC. State Estimation for MRI-Actuated Cathers via Catadioptric Stereo Camera. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018;2018:1795-1800. doi:10.1109/IROS.2018.8594153 [doi]
8. Jackson RC, Liu T, Çavuşoğlu MC. Catadioptric Stereo Tracking for Three Dimensional Shape Measurement of MRI Guided Catheters. IEEE Int Conf Robot Autom. 2016;2016:4422-4428. doi:10.1109/ICRA.2016.7487641 [doi]

Cite this abstract

http://echo.ismrm.org/p/ISMRM2026/369-06-002