Development of a Low-Profile, Piezoelectric Robot for MR-Guided Abdominal Needle Interventions.

Journal: Annals of biomedical engineering
Published Date: Apr 23, 2025

Abstract

PURPOSE: Minimally invasive needle-based interventions are commonly used in cancer diagnosis and treatment, including procedures, such as biopsy, brachytherapy, and microwave ablation. Although MR-guided needle placement offers several distinct advantages, such as high-resolution target visualization and accurate device tracking, one of the primary limitations that affect its widespread adoption is the ergonomic constraints of the closed-bore MRI environment, requiring the patients to be frequently moved in and out to perform the needle-based procedures. This paper introduces a low-profile, body-mounted, MR-guided robot designed to address this limitation by streamlining the operation workflow and enabling accurate needle placement within the MRI scanner.

Authors

  • Samuel Wilcox
    Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA.
  • Saikat Sengupta
    Department of Radiology, Vanderbilt University Medical Center, Nashville, TN, 37232, USA.
  • Chuan Huang
    Department of Biomedical Engineering, Stony Brook University, Stony Brook, New York chuan.huang@stonybrookmedicine.edu.
  • Junichi Tokuda
  • Aiming Lu
    Department of Radiology, Mayo Clinic, Rochester, MN, 55905, USA.
  • David Woodrum
    Department of Radiology, Mayo Clinic, Rochester, MN, 55905, USA.
  • Yue Chen
    The College of Basic Medical Sciences, Guangzhou University of Chinese Medicine, Guangzhou, China.

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