The confined physical space of the MRI scanner, even with a wider and shorter bore, can be a challenging environment in which valve replacement is performed. During the procedure, the surgeon full article must manipulate the different components of the delivery device and other tools through the delivery device while visualizing the in-room MRI display simultaneously. In order to deliver the prosthesis properly, a coordinated effort between the surgeon and the team is critical in the noisy MRI environment while contending with respiratory and cardiac motion during a beating heart procedure. The use of a robotic assistance can potentially alleviate the need of this level of coordination and provide dexterous manipulation of the interventional tools inside the MRI scanner.

Our group has focused on magnetic resonance imaging- (MRI-) guided transapical aortic valve replacement [24�C27]. In this paper, we report our work on this beating-heart procedure: surgical techniques, medical imaging, medical devices, feasibility of the procedure, and long-term results. We also report on our work with robotic assistance for this procedure. 2. Material and Methods 2.1. MR Imaging System Magnetom Espree (Siemens Medical Solutions, Munich, Germany) is used for the intervention. This 1.5-T magnet design, with short (120cm) and wide (70cm) bore, gives a clearance of up to 30cm above the chest of the supine patient and makes surgical access to the patient within the magnet feasible. In addition to providing standard MR sequences, a fully interactive, rtMRI system connected to the scanner provides a real-time interactive imaging sequencing.

This system comprises an interactive user interface, an operating room large-screen display, gated pulse sequences, and image reconstruction software. Multiple oblique slices can be obtained in rapid succession and can be simultaneously displayed in a 3D rendering to provide optimal 3D anatomic information. Image contrast, image plane orientations, acquisition speed, 3D rendering, and device tracking can be readily adjusted as needed during scanning [28]. 2.2. Stents and Devices A new self-expanding stent was designed to accommodate conventional stentless aortic bioprostheses (Toronto SPV, St. Jude Medical, Minneapolis, MN, or Freestyle, Medtronic Inc., Minneapolis, MN) [29] (Figure 1).

The Anacetrapib stent is made of a biocompatible nickel-titanium alloy (nitinol), which assumes a ��preprogrammed�� final configuration upon release from the delivery system and exposure to body temperature. The stent has nine rods, three of which are aligned with the valve commissures, and a chevron repeating pattern along the length of the cylinder with flared ends. The fixed length of the stent at both crimped and expanded status prevents stress on the bioprosthetic valve especially at suturing area.