Systems and methods for transferring fluid to or from a subject use a set of MRI compatible components that can aspirate intrabody structure and/or fluids. The components include a device guide, a semi-rigid guide sheath configured to slidably extend through the device guide, a stylet releasable coupled to the guide sheath and extending a fixed distance out of a distal end thereof, and a cannula coupled to flexible tubing that is releasably interchangeably held in the guide sheath in lieu of the stylet.

An exemplary embodiment of the present disclosure provides an MRI-compatible robot comprising one or more fiducial markers, a first planar stage comprising a first joint configured to receive a surgical tool and a first mechanism configured to move the surgical tool, a second planar stage comprising a second joint configured to receive the surgical tool and a second mechanism configured to move the surgical tool, and wherein the second planar stage is generally parallel with the first planar stage.

Disclosed herein are embodiments of segmented metallic guidewires that are suitable for MRI catheterization. Disclosed guidewires comprise a plurality of short conductive metallic segments that individually are short enough such that they do not resonate during MRI. The conductive segments are electrically insulated from each other and mechanically coupled together end-to-end via connectors, such as stiffness matched connectors, to provide a sufficiently long, strong, and flexible guidewire for catheterization that is non-resonant during MRI.

A transrectal probe manipulator system includes a probe comprising a biopsy needle and a manipulator. The manipulator includes a base including first and second base support shafts on a base body, a main frame, and a mounting plate. A lower end of the main frame is rotatably connected to the base through a first shaft to define a first degree of freedom. The mounting plate includes first and second mounting plate support shafts and a probe receiver, and is rotatably connected to the main frame through a second shaft to define a second degree of freedom. The probe receiver is rotatable about a central axis to define a third degree of freedom, and linearly moveable along the central axis to define a fourth degree of freedom. The probe is secured to the probe receiver. The manipulator is driven by cables which are attached to the shafts in an actuation assembly.

MRI compatible localization and/or guidance systems for facilitating placement of an interventional therapy and/or device in vivo include: (a) a mount adapted for fixation to a patient; (b) a targeting cannula with a lumen configured to attach to the mount so as to be able to controllably translate in at least three dimensions; and (c) an elongate probe configured to snugly slidably advance and retract in the targeting cannula lumen, the elongate probe comprising at least one of a stimulation or recording electrode. In operation, the targeting cannula can be aligned with a first trajectory and positionally adjusted to provide a desired internal access path to a target location with a corresponding trajectory for the elongate probe. Automated systems for determining an MR scan plane associated with a trajectory and for determining mount adjustments are also described.

A magnetic resonance method and system are provided for magnetic resonance (MR) image-guided insertion of an object into a biological tissue along a predetermined trajectory. The trajectory provides a path between a starting point and a target site within the tissue. Sufficiently high resolution images can be generated in real time to precisely guide the needle placement. A compressed sensing approach is used to generate the images based on minimization of a cost function, where the cost function is based on the predetermined needle path, artifact effects associated with the needle, the negligible changes in the images away from the trajectory, and the limited differences between successive images. The improved combination of spatial and temporal resolution facilitates an insertion procedure that can be continuously adjusted to accurately follow a predetermined trajectory in the tissue, without interruptions to obtain verification images.

An MR compatible steerable sheath is provided. The MR compatible steerable sheath includes a steerable shaft that receives first and second longitudinal movement wires at a distal end thereof and audible or tactile means for indicating to a user the degree of deflection of the distal tip of the steerable shaft. A control handle is coupled to a proximal end of the first and second longitudinal movement wires and causes longitudinal movement of the wires.

Described here are systems and methods for using a laser-induced demagnetization of magnetic particles disbursed in a tracking marker to generate variable susceptibility effects that can be imaged with magnetic resonance imaging (“MRI”). As one example, laser power is delivered to nickel particles using fiber optics. This demagnetization effect can be used in rapid tracking of interventional devices by subtracting the two images acquired when the laser is off and on.

The disclosure relates to medical devices and methods of assembling medical devices, such as MRI-compatible interventional wireguides. An example of a wireguide includes a series of individual segments, a plurality of connectors, and a plurality of spacers. Each segment in the series of individual segments has a first end and a second end. Each connector of the plurality of connectors joins adjacent segments in the series of individual segments to one another such that a first end of a first segment and a second end of a second segment in the series of individual segments are attached to a connector of the plurality of connectors. A spacer of the plurality of spacers is disposed between each pair of adjacent segments in the series of individual segments. Each of the segments in the series of individual segments is electrically insulated from an adjacent segment in the series of individual segments.

For the field of determining the position of an invasive device (1) a solution for improving the localization of the invasive device (1) is specified. This is achieved by an arrangement and a method for determining the position of an invasive device (1), wherein an optical shape sensing system for sensing a position and/or shape of the invasive device (1) is provided, wherein the system is arranged to localize at least one point P.sub.i on the invasive device (1) at a position x.sub.i, y.sub.i, z.sub.i, with some en-or margin (2Δx.sub.i, 2Δy.sub.i, 2Δz.sub.i) in a region of interest (3), localizing and reconstructing at least one point P.sub.i on the invasive device (1) at a position x.sub.i, y.sub.i, z.sub.i, with some error margin (2Δx.sub.i, 2Δy.sub.i, 2Δz.sub.i) in a region of interest (3) by the optical shape sensing system. An MRI system is also provided for measuring the position x.sub.i, y.sub.i, z.sub.i of the point P.sub.i on the invasive device (1) within the error margin in the region of interest at least in one spatial direction by the MRI system, wherein a signal of the magnetization in the error margin (2Δx.sub.i, 2Δy.sub.i, 2Δz.sub.i) is read out by the MRI system and a position of the invasive device (1) is determined based on the signal. The position x.sub.i, y.sub.i, z.sub.i, of the point P.sub.i on the invasive device (1) in the region of interest (3) determined by the optical shape sensing system is corrected with the x.sub.i, y.sub.i, z.sub.i, of the point P.sub.i on the invasive device (1) in the region of interest (3) determined by the MRI system by a calculating system to an actual position of the point P.sub.i on the invasive device (1).