MRI guided HIFU robotic system application in feasibility study for treating uterine fibroids.

This article describes a Magnetic Resonance Imaging (MRI) -guided High-Intensity Focused Ultrasound (HIFU) robotic system for the treatment of uterine fibroids. The study presents the development and sensor-based accuracy assessment of the robotic system. The positioning accuracy was assessed in free space using a three-dimensional coordinate measuring machine (CMM) and verified in phantom study and ex vivo with porcine tissue. Average positioning accuracy with a standard deviation of 0.37 ± 0.17 mm was achieved with CMM, 0.9 ± 0.4 mm in the phantom study, and 0.9 ± 0.6 mm with porcine tissue. The MRI compatibility of the system was substantiated with signal-to-noise ratio (SNR) analysis. This robotic system has a positioning accuracy of millimeter level, with almost negligible interference to MRI. It has certain feasibility in the treatment of uterine fibroids. Further clinical trials are warranted to confirm therapeutic efficacy and clinical safety for uterine fibroid treatments.