Purpose: In vivo studies are often required to prove the functionality and safety of medical devices. Clinical trials are costly and complex, adding to ethical scrutiny of animal testing. Anthropomorphic phantoms with versatile functionalities can overcome these issues with regard to medical education or an effective development of assistance systems during image-guided interventions (e.g., robotics, navigation/registration algorithms). In this work, an MRI-compatible and customizable motion phantom is presented to mimic respiratory-triggered organ movement as well as human anatomy. Methods: For this purpose, polyvinyl alcohol cryogel (PVA-C) was the foundation for muscles, liver, kidneys, tumors, and remaining abdominal tissue in different sizes of the abdominal phantom body (APB) with the ability to mimic human tissue in various properties. In addition, a semi-flexible rib cage was 3D-printed. The motion unit (MU) with an electromagnetically shielded stepper motor and mechanical extensions simulated a respiration pattern to move the APB. Results: Each compartment of the APB complied the relaxation times, dielectricity, and elasticity of human tissue. It showed resistance against mold and provided a resealable behavior after needle punctures. During long-term storage, the APB had a weight loss of 2.3%, followed by changes to relaxation times of 9.3% and elasticity up to 79%. The MU was able to physiologically appropriately mimic the organ displacement without reducing the MRI quality. Conclusion: This work presents a novel modularizable and low-cost PVA-C based APB to mimic fundamental organ motion. Beside a further organ motion analysis, an optimization of APB’s chemical composition is needed to ensure a realistic motion simulation and reproducible long-term use. This phantom enhances diverse and varied training environments for prospective physicians as well as effective R&D of medical devices with the possibility to reduce in vivo experiments.

Purpose: Surgical robotics have demonstrated their significance in assisting physicians during minimally invasive surgery. Especially, the integration of haptic and tactile feedback technologies can enhance the surgeon’s performance and overall patient outcomes. However, the current state-of-the-art lacks such interaction feedback opportunities, especially in robotic-assisted interventional magnetic resonance imaging (iMRI), which is gaining importance in clinical practice, specifically for percutaneous needle punctures. Methods: The cable-driven ‘Micropositioning Robotics for Image-Guided Surgery’ (µRIGS) system utilized the back-electromotive force effect of the stepper motor load to measure cable tensile forces without external sensors, employing the TMC5160 motor driver. The aim was to generate a sensorless haptic feedback (SHF) for remote needle advancement, incorporating collision detection and homing capabilities for internal automation processes. Three different phantoms capable of mimicking soft tissue were used to evaluate the difference in force feedback between manual needle puncture and the SHF, both technically and in terms of user experience. Results: The SHF achieved a sampling rate of 800 Hz and a mean force resolution of 0.26 ± 0.22 N, primarily dependent on motor current and rotation speed, with a mean maximum force of 15 N. In most cases, the SHF data aligned with the intended phantom-related force progression. The evaluation of the user study demonstrated no significant differences between the SHF technology and manual puncturing. Conclusion: The presented SHF of the µRIGS system introduced a novel MR-compatible technique to bridge the gap between medical robotics and interaction during real-time needle-based interventions.

Metasurfaces enable magnetic resonance imaging (MRI) without cables inside the bore by locally improving the sensitivity of scanner-integrated receive coils. This study systematically evaluates a novel grid design to provide signal enhancement for patient imaging. The potential of the proposed metasurface grid design was analyzed regarding its unit cell density and compared with stripe type metasurfaces. The effects were examined in-depth by numerical simulation, workbench measurements, and MRI experiments at 3 Tesla. Differences in the signal-to-noise ratio (SNR) using either the integrated body or spine coils were evaluated, as well as the influence of the metasurface orientation. The grid design provided a favorable eigenmode usable for MR imaging, where it has shown significantly less dependence on orientation, compared to stripe metasurfaces. With the densest grid, more than 26% higher SNR than its most spaced design was achieved. Combining the metasurface for imaging with the spine coil proved to be superior to the body coil. Applying the metasurface for knee imaging, the SNR was locally enhanced by more than 10-fold compared to the scan with only the spine coil. The high-density grid metasurfaces provided benefits compared to the multitude of designs evaluated. This work provides a comprehensive foundation for future developments of metasurfaces for MRI, whose advantages may be exploited e.g. in the domain of interventional radiology.

Metasurfaces have proved valuable in magnetic resonance imaging (MRI) applications through modifying the field profiles of radiofrequency coils to enhance imaging. Using metasurfaces to enhance a conventional coil, such as the table-integrated spine coil, allows imaging with practically no cables inside the bore. This work investigated the fundamental relationship between an MRI system's field strength and the enhancement effect of a metasurface. We simulated and manufactured grid metasurfaces for field strengths of 0.55 Tesla (0.55 T), 1.5 T and 3 T and evaluated them experimentally. We found increased enhancements of the signal-to-noise ratio (SNR) with lower field strengths. At 0.55 T, the enhancement in the vicinity of the metasurface (10.9-fold) was measured 3.8 times higher than at 3 T. Moreover, the SNR decreased less with field strength next to the metasurface compared to the spine coil. Our results indicate the capability of metasurfaces in low field MRI systems and can stimulate further research. This could benefit future applications in MRI-guided interventions through simplified handling, as well as countries currently underserved with MRIs due to low manufacturing costs.

The literature reports on radiofrequency (RF) transmit (Tx) elements tailored for ultrahigh-field (UHF) magnetic resonance imaging (MRI) showed confounded reproducibility due to variations in simulation tools, modeling assumptions, and meshing techniques. This study proposes a standardized methodology to improve reproducibility and consistency across research sites (testers) and simulation tools (testing conditions). The methodology includes detailed simulation workflow and performance metrics for RF Tx elements. The impact of the used mesh setting is assessed. Following the methodology, a reproducibility study was conducted using CST Microwave Studio Suite, HFSS, and Sim4Life. The methodology and simulations were ultimately validated through 7 T MRI phantom experiments. The reproducibility study showed consistent performance with less than 6% standard deviation for B₁⁺ fields and 12% for peak SAR averaged over 10 g tissue (pSAR_10g). The SAR efficiency metric (|B₁⁺|/√pSAR_10g) was particularly robust (<5%). The simulated and experimental |B₁⁺| maps showed good qualitative agreement. This study demonstrates the feasibility of a standardized methodology for achieving reproducible RF Tx element electromagnetic field simulations. By following the FAIR principles including making the framework publicly available, we promote transparency and collaboration within the MRI community, supporting the advancement of technological innovation and improving patient safety in UHF-MRI.