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Background— The MRI-compatible electrophysiology system previously used for MR-guided left ventricular electroanatomic mapping was enhanced with improved MR tracking, an MR-compatible radiofrequency ablation system and higher-resolution imaging sequences to enable mapping, ablation, and ablation monitoring in smaller cardiac structures. MR-tracked navigation was performed to the left atrium (LA) and atrioventricular (AV) node, followed by LA electroanatomic mapping and radiofrequency ablation of the pulmonary veins (PVs) and AV node. Methods and Results— One ventricular ablation, 7 PV ablations, 3 LA mappings, and 3 AV node ablations were conducted. Three MRI-compatible devices (ablation/mapping catheter, torqueable sheath, stimulation/pacing catheter) were used, each with 4 to 5 tracking microcoils. Transseptal puncture was performed under x-ray, with all other procedural steps performed in the MRI. Preacquired MRI roadmaps served for real-time catheter navigation. Simultaneous tracking of 3 devices was performed at 13 frames per second. LA mapping and PV radiofrequency ablation were performed using tracked ablation catheters and sheaths. Ablation points were registered and verified after ablation using 3D myocardial delayed enhancement and postmortem gross tissue examination. Complete LA electroanatomic mapping was achieved in 3 of 3 pigs, Right inferior PV circumferential ablation was achieved in 3 of 7 pigs, with incomplete isolation caused by limited catheter deflection. During AV node ablation, ventricular pacing was performed, 3 devices were simultaneously tracked, and intracardiac ECGs were displayed. 3D myocardial delayed enhancement visualized node injury 2 minutes after ablation. AV node block succeeded in 2 of 3 pigs, with 1 temporary block. Conclusions— LA mapping, PV radiofrequency ablation, and AV node ablation were demonstrated under MRI guidance. Intraprocedural 3D myocardial delayed enhancement assessed lesion positional accuracy and dimensions.

Purpose To develop MR-tracked catheters to delineate the three-dimensional motion of coronary arteries at high spatial and temporal resolution. Materials and Methods Catheters with three tracking microcoils were placed into nine swine. During breath-holds, electrocardiographic (ECG)-synchronized 3D motion was measured at varying vessel depths. 3D motion was measured in American Heart Association left anterior descending (LAD) segments 6–7, left circumflex (LCX) segments 11–15, and right coronary artery (RCA) segments 2–3, at 60–115 beats/min heart rates. Similar-length cardiac cycles were averaged. Intercoil cross-correlation identified early systolic phase (ES) and determined segment motion delay. Results Translational and rotational motion, as a function of cardiac phase, is shown, with directionality and amplitude varying along the vessel length. Rotation (peak-to-peak solid-angle RCA ≈0.10, LAD ≈0.06, LCX ≈0.18 radian) occurs primarily during fast translational motion and increases distally. LCX displacement increases with heart rate by 18%. Phantom simulations of motion effects on high-resolution images, using RCA results, show artifacts due to translation and rotation. Conclusion Magnetic resonance imaging (MRI) tracking catheters quantify motion at 20 fps and 1 mm3 resolution at multiple vessel depths, exceeding that available with other techniques. Imaging artifacts due to rotation are demonstrated. Motion-tracking catheters may provide physiological information during interventions and improve imaging spatial resolution. J. Magn. Reson. Imaging 2009;29:86–98. © 2008 Wiley-Liss, Inc.

Background— X-ray fluoroscopy constitutes the fundamental imaging modality for catheter visualization during interventional electrophysiology procedures. The minimal tissue discriminative capability of fluoroscopy is mitigated in part by the use of electroanatomic mapping systems and enhanced by the integration of preacquired 3-dimensional imaging of the heart with computed tomographic or magnetic resonance (MR) imaging. A more ideal paradigm might be to use intraprocedural MR imaging to directly image and guide catheter mapping procedures. Methods and Results— An MR imaging–based electroanatomic mapping system was designed to assess the feasibility of navigating catheters to the left ventricle in vivo using MR tracking of microcoils incorporated into the catheters, measuring intracardiac ventricular electrograms, and integrating this information with 3-dimensional MR angiography and myocardial delayed enhancement images to allow ventricular substrate mapping. In all animals (4 normal, and 10 chronically infarcted swine), after transseptal puncture under fluoroscopic guidance, catheters were successfully navigated to the left ventricle with MR tracking (13 to 15 frames per second) by both transseptal and retrograde aortic approaches. Electrogram artifacts related to the MR imaging gradient pulses were successfully removed with analog and digital signal processing. In all animals, it was possible to map the entire left ventricle and to project electrogram voltage amplitude maps to identify the scarred myocardium. Conclusions— It is possible to use MR tracking to navigate catheters to the left ventricle, to measure electrogram activity, and to render accurate 3-dimensional voltage maps in a porcine model of chronic myocardial infarction, completely in the MR imaging environment. Myocardial delayed enhancement guidance provided dense sampling of the proximity of the infarct and accurate localization of complex infarcts.

The emergence of parallel MRI techniques and new applications for real-time interactive MRI underscores the need to evaluate performance gained by increasing the capability of MRI phased-array systems beyond the standard four to eight high-bandwidth channels. Therefore, to explore the advantages of highly parallel MRI a 32-channel 1.5 T MRI system and 32-element torso phased arrays were designed and constructed for real-time interactive MRI. The system was assembled from multiple synchronized scanner-receiver subsystems. Software was developed to coordinate across subsystems the real-time acquisition, reconstruction, and display of 32-channel images. Real-time, large field-of-view (FOV) body-survey imaging was performed using interleaved echo-planar and single-shot fast-spin-echo pulse sequences. A new method is demonstrated for augmenting parallel image acquisition by independently offsetting the frequency of different array elements (FASSET) to variably shift their FOV. When combined with conventional parallel imaging techniques, image acceleration factors of up to 4 were investigated. The use of a large number of coils allowed the FOV to be doubled in two dimensions during rapid imaging, with no degradation of imaging time or spatial resolution. The system provides a platform for evaluating the applications of many-channel real-time MRI, and for understanding the factors that optimize the choice of array size.

Cardiac and respiratory motion present significant challenges for MR coronary angiography, which have not been completely resolved to date by either breath-holding or respiratory navigation. Adaptive averaging during real-time MRI may provide a useful alternative to these techniques. In this method, cross-correlation is used to automatically identify those real-time imaging frames in which the vessel is present, and to determine the location of the vessel within each frame. This information is then used for selective averaging of frames to increase the signal-to-noise ratio and to improve visualization of the vessel. The correlation theorem was employed to raise the speed of this algorithm by up to two orders of magnitude. Segmenting data collection and reconstruction into subimages allows the extension of this technique to higher spatial resolution. Adaptive averaging provides a robust method for coronary MRI which requires no breath-holding, navigation, or ECG gating.

A system for active scan plane guidance during kinematic magnetic resonance (MR) examination of joint motion was developed utilizing an external tracking coil and MR tracking software. In a phantom study and during upright, weight-bearing, physiologic knee flexion, the external tracking coil maintained the scan plane through desired structures. Thus, MR tracking provides a robust method to guide the scan plane during MR imaging of active joint motion.J. Magn. Reson. Imaging 1999;10:8–14. © 1999 Wiley-Liss, Inc.

The acquisition of complete three-dimensional (3D), segmented gradient-echo data sets to visualize the coronary arteries can be both time consuming and sensitive to motion, even with use of multiple breath-holding or respiratory gating. An alternate hybrid approach is demonstrated here, in which real-time interactive imaging is first used to locate an optimal oblique coronary scan plane. Then, a limited number of contiguous slices are acquired around that plane within a breath-hold with use of two-dimensional (2D) segmented gradient-echo imaging. Dual inversion nulling is used to suppress fat and myocardium. Finally, if needed, a limited reformat of the data is performed to produce images from relatively long sections of the coronaries. This approach yields relatively rapid visualization of portions of the coronary tree. Several different methods are compared for interactively moving the scan plane.

With use of an open 1.5-T magnetic resonance (MR) imager and a tracking catheter, the authors successfully placed the catheter into the left or right sacral artery in pigs. The tracking catheter comprised a 5.3-F percutaneous transluminal angioplasty catheter with a small copper radio-frequency coil in its tip. With use of the coil as an antenna, the catheter tip position was projected in real time onto MR angiography road maps in two planes. Guidance of placement of the catheter with the MR angiography road maps allowed successful embolization, balloon occlusion, and transjugular intrahepatic puncture of the portal system. Specialized catheters can be tracked in vivo to allow MR guidance in intravascular interventional procedures.

PURPOSE: To evaluate real-time biplanar tracking of a specially designed needle with magnetic resonance (MR) imaging guidance. MATERIALS AND METHODS: The needle is made of polyetheretherketone and has a miniature radio-frequency coil incorporated into the tip. Tracking software on two workstations is used to compute three-dimensional coordinates of the coil and to display the position as a moving symbol in two imaging planes. Validation of needle tracking was performed in a harvested human liver. T2-weighted fast spin-echo images were used to target a 1-cm cyst. Success of needle placement was confirmed with aspiration and with updated gradient-recalled-echo images. RESULTS: The cyst was successfully targeted from different approaches. Tracking procedures were monitored in real time simultaneously on two separate images. CONCLUSION: Real-time biplanar needle tracking may prove to be useful for both diagnostic and therapeutic interventional MR imaging procedures.

Simultaneous detection of two or more components of motion using new magnetic resonance pulse sequences was investigated.The technique employs Fourier phase encoding to encode the first component, and phase contrast detection to encode the second. Although the technique can be generalized to any number of spatial dimensions and motional orders, applications in which one or two spatial dimensions are obtained with a single Fourier velocity or acceleration dimension are most likely to be useful. For example, Fourier-encoded velocity and phase-contrasted acceleration information can be combined into the same image.Several variations of the pulse sequence were investigated in phantoms and human volunteers. The first variation acquired images having an appearance similar to that of Fourier velocity-encoded images in which signal displacement is proportional to velocity, but with pixel intensity determined by acceleration. In another variation two spatial dimensions were acquired with a third dimension that uses Fourier velocity encoding to measure axial velocity within a curved tube. Radial velocity components were determined simultaneously with a second velocity-encoding gradient pulse.The phantom and in vivo results presented here suggest that simultaneous detection of two or more components of motion is feasible.

A highly interactive MRI scanner interface has been developed that allows, for the first time, real-time graphic control of one-dimensional (1D) and two-dimensional (2D) cardiac MRI exams. The system comprises a Mercury array processor (AP) in a Sun SPARCserver with two connections to the MRI scanner, a data link that passes the NMR data directly to the AP as they are collected, and a control link that passes commands from the Sun to the scanner to redirect the imaging pulse sequence in real time. In the 1D techniques, a cylinder or "pencil" of magnetization is repeatedly excited using gradient-echo or spin-echo line-scan sequences, with the magnetization read out each time along the length of the cylinder, and a scrolling display generated on the Sun monitor. Rubber-band lines drawn on the scout image redirect the pencil or imaging slice to different locations, with the changes immediately visible in the display. M-mode imaging, 1D flow imaging, and 2D fast cardiac imaging have been demonstrated on normal volunteers using this system. This platform represents an operator-"friendly" way of directing real-time imaging of the heart.

Procedures for the in vivo detection of coronary (and pulmonary) vessels using MR angiographic techniques were investigated. The most successful technique used gradient-recalled thin slice acquisitions that were gated to the cardiac cycle. The resulting data sets consist of three spatial dimensions and one time dimension. Acquisition of four dimensions of data proved necessary to obtain useful images of small vessels located on the moving myocardium.

All procedures and protocols were approved by the institutional animal care and use committee of Columbia University. To determine whether transfemoral catheterization of the carotid arteries can be performed entirely with real-time magnetic resonance (MR) imaging guidance, the authors catheterized the carotid arteries in six domestic pigs by using active-tracking catheters and guidewires and MR tracking software created for neurovascular procedures. The carotid arteries were successfully catheterized 24 times, on average within 5 minutes after insertion of the catheter into the femoral artery. Results demonstrated the feasibility of performing transfemoral catheterization of the carotid arteries with active MR tracking devices in a conventional MR imaging unit. Supplemental material: radiology.rsnajnls.org/cgi/content/full/2341031951/DC1. © RSNA, 2004

All examinations were performed with approval from the institutional animal care and use committee of Columbia University. To assess the feasibility of real-time magnetic resonance (MR) imaging–guided neurovascular intervention in a swine model, the authors placed stents in the carotid arteries of five domestic pigs. Seven-French vascular sheaths were placed in the target carotid arteries via femoral access by using active MR tracking. Ten nitinol stents (8–10 × 20–40 mm) were successfully deployed in the target segments of carotid arteries bilaterally. MR imaging and necropsy findings confirmed stent position. Necropsy revealed no gross vascular injury. Study results demonstrated the feasibility of performing real-time MR imaging–guided neurovascular intervention by using an active-tracking technique in an animal model. © RSNA, 2004

To test the hypotheses that open dynamic magnetic resonance (MR) imaging can (a) be used to evaluate and define normal shoulder motion in active joint motion and muscle contraction and (b) be used in conjunction with physical examination.With an open-configuration, 0.5-T MR imaging system and active image-plane tracking, 10 shoulders were studied in five asymptomatic subjects to establish normal patterns of glenohumeral motion during abduction and adduction and internal and external rotation. Preliminary studies of physical examination during MR imaging, in which a physician examiner applied mechanical force to the humeral head, were also performed.During abduction and adduction and internal and external rotation maneuvers with active subjects muscle contraction, the humeral head remained precisely centered on the glenoid fossa in all asymptomatic subjects, which is in agreement with findings of previous radiographic studies. Application of force to the humeral head by an examiner was associated with as much as 6 mm of anterior translation and 13 mm of posterior translation.Dynamic MR imaging of the glenohumeral joint is possible over a wide range of physiologic motion in vertically open systems. Use of an MR tracking coil enabled accurate tracking of the anatomy of interest. These preliminary measurements of normal glenohumeral motion patterns begin to establish normal ranges of motion and constitute a necessary first step in characterizing pathologic motion in patients with common clinical problems such as instability and impingement.

MR tracking of a vascular guidewire sized for a .035-inch (.89-mm) catheter lumen was performed. The guidewire was actively tracked by incorporation of a miniature radiofrequency (RF) receive coil built into its tip. After in vitro validation, simultaneous tracking of the guidewire and a catheter was performed in the aortic and abdominal vessels of a swine at 1.5 T. The ability to track such a small device and the ability to simultaneously track multiple devices are significant steps towards vascular interventions under MR guidance.

This article reports on the preliminary evaluation of a new technique for guiding intravascular interventional procedures with MR imaging. Active real-time position monitoring of catheters with MR imaging is made possible by incorporating a small RF coil into the tip of the catheter. The purpose of this study was to evaluate the practicability and localizing precision of this MR catheter tracking technique in vitro and in vivo in comparison with fluoroscopy.Feed cables employing a 0.9-mm-diameter coaxial cable, a 0.5-mm-diameter partially shielded coaxial cable, and a twisted pair cable attaching RF coils at the catheter tip to a coaxial plug at the catheter base were assessed. Further, miniature copper loop RF coils of two, three, and four turns were tested. In vitro validation of MR tracking was achieved by using a phantom consisting of a water-filled harvested segment of human aorta and iliac arteries embedded in gel. Accuracy of catheter placement was compared with MR and fluoroscopy. Subsequently, the MR tracking technique was evaluated in a swine model using a prototype 5-French MR tracking catheter.A fully shielded coaxial cable was found to be crucial for localizing the attached RF coil by means of the tracking technique. The number of coil turns had a lesser impact. Positions of the catheter tip measured with the MR technique and with fluoroscopy correlated well (r.98), with a 6-mm 95% confidence interval of positional differences. Active real-time tracking of the coil-tipped catheters was achieved both in vitro and in vivo. The 5-French tracking catheter was successfully placed in the splenic and renal arteries of the swine.Robust in vivo tracking and accurate placement of catheters equipped with miniature RF coils are possible with MR imaging.

A technique for the assessment of single kidney hemodynamic functions utilizing a novel MR pulse sequence in conjuinction with MR contrast material administration is described. Renal extraction fraction (EF) is derived by measuring the concentration of the incoming contrast agent in the renal artery and the outgoing concentration in the renal vein. The glomerular filtration rate (GFR) can then be determined by the product of EF and renal plasma flow. A modified iniversion recovery MR pulse sequence is used to measure the T1 of moving blood. This pulse sequence uses a spatially nonselective inversion pulse. A series of small flip angle detection pulses are then used to monitor the recovery of longitudinal spin magnetization in an image plane intersecting the renal vessels. The recovery rate is measured in each vessel and the T1 of blood determined. These T1 measurements are then used to determine the ratio of contrast concentration in the renal arteries and veins. Blood flow measurements can be obtained simultaneously with T1 measurements by inserting flow-encoding magnetic field gradients into the pulse seqiuence. Preliminary results in human volunteers suggest the feasibility of noninvasively determining hemodynamic functions with magnetic resonance.

The local distensibility of arteries is of interest because distensibility varies from artery to artery, may be altered by disease to different extents in different arteries, and may be modified by physiological or pharmacological means. Using magnetic resonance imaging (MRI) we have measured local arterial wavespeed in the femoral artery in healthy human subjects and calculated local arterial distensibility. We acquired 2-D coronal and sagittal MR phase contrast angiograms of the femoral artery. We used a novel imaging technique, comb-excited Fourier velocity-encoded MRI, to obtain simultaneous measurements of arterial blood velocity at two stations 14cm apart on the femoral artery. The separation of the two stations divided by the delay between the onset of forward flow at the two stations was used to calculate the wavespeed. The measurements were made on 16 healthy men (8 athletes, 8 non-athletes) in the age range 20–30 years, who were scanned with the use of ECG gating and an extremity coil in a 1.5 Tesla scanner (GE Medical Systems, Milwaukee, WI). By systematically altering the delay between the R-wave and data acquisition, a temporal resolution of 2–4ms was achieved. The onset of forward flow at each station was determined from a least-squares fit to the data for 30% of the maximum velocity during the cardiac cycle. Average femoral artery wavespeed was 7.7m/s ± 1.2 in the athletes and 11.5m/s ± 1.1 in the non-athletes (P < 0.001). The corresponding arterial distensibility values were 1.87 ± 0.86 × 10−5kg−1 s2m and 7.72 ± 1.63 × 10−6kg−1 s2m (P < 0.001). In most of the subjects there was transient flow reversal in the femoral artery immediately preceding the onset of forward flow. This helped in the identification of the onset of forward flow and hence the determination of arterial wavespeed.

A magnetic resonance (MR) active invasive device system employs a small, high-field polarizing magnet having a toroidal geometry, and a large low-field magnetic resonance (MR) imaging magnet for the purpose of generating MR angiograms of selected blood vessels. A subject is positioned in a large low-field MR imaging magnet. A catheter is inserted into the patient at or near the root of a vessel tree to be imaged. A fluid, intended to be used as a contrast agent is first passed through the small high-field polarizing magnet, causing a great deal of net longitudinal magnetization to be produced in the fluid. The fluid is then introduced into the subject through the catheter. Radiofrequency (RF) pulses and magnetic field gradients are then applied to the patient as in conventional MR imaging. Since the fluid has a larger longitudinal magnetization, before the MR imaging sequence, the fluid produces a much larger MR response signal than other tissue, resulting in the vessel tree being imaged with excellent contrast.

A tracking system employs magnetic resonance signals to monitor the position of a device such as a catheter within a subject. The device has a receiver coil which is sensitive to magnetic resonance signals generated in the subject. These signals are detected in the presence of magnetic field gradients and thus have frequencies which are substantially proportional to the location of the coil along the direction of the applied gradient. Signals are detected responsive to sequentially applied mutually orthogonal magnetic gradients to determine the position of the device in several dimensions. The position of the device as determined by the tracking system is superimposed upon independently acquired medical diagnostic images.

A tracking system employs magnetic resonance signals to monitor the position of a device such as a catheter within a subject. The device has a receiver coil which is sensitive to magnetic resonance signals generated in the subject. These signals are detected in the presence of magnetic field gradients and thus have frequencies which are substantially proportional to the location of the coil along the direction of the applied gradient. Signals are detected responsive to applied magnetic gradients to determine the position of the device in several dimensions. Sensitivity of the measured position to resonance offset conditions such as transmitter frequency misadjustment, chemical shift and the like is minimized by repeating the process a plurality of times with selected amplitudes and polarities for the applied magnetic field gradient. Linear combinations of the data acquired responsive to the different applied magnetic field gradients are computed to determine the position of the device in three orthogonal dimensions. The position of the device as determined by the tracking system is superimposed upon independently acquired medical diagnostic images.

A tracking system employs magnetic resonance signals to monitor the position and orientation of a device, such as a catheter, within a subject. The device has an MR active sample and a receiver coil which is sensitive to magnetic resonance signals generated by the MR active sample. These signals are detected in the presence of magnetic field gradients and thus have frequencies which are substantially proportional to the location of the coil along the direction of the applied gradient. Signals are detected responsive to sequentially applied mutually orthogonal magnetic gradients to determine the device's position in several dimensions. The position of the device as determined by the tracking system is superimposed upon independently acquired medical diagnostic images. One or more devices can be simultaneously tracked.