  The introduction of neuroendoscopy, microneurosurgery, neuronavigation, and
intraoperative imaging for surgical operations has made significant
improvements over other traditionally invasive surgical techniques. The
integration of magnetic resonance imaging (MRI)-driven surgical devices with
intraoperative imaging and endoscopy can enable further advancements in
surgical treatments and outcomes. This work proposes the design and development
of an MRI-driven endoscope leveraging the high (3-7 T), external magnetic field
of an MR scanner for heat-mitigated steering within the ventricular system of
the brain. It also demonstrates the effectiveness of a Lorentz force-based
grasper for diseased tissue manipulation and ablation. Feasibility studies show
the neuroendoscope can be steered precisely within the lateral ventricle to
locate a tumor using both MRI and endoscopic guidance. Results also indicate
grasping forces as high as 31 mN are possible and power inputs as low as 0.69
mW can cause cancerous tissue ablation. These findings enable further
developments of steerable devices using MR imaging integrated with endoscopic
guidance for improved outcomes.
