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Robotically Assisted Long Bone Biopsy Under MRI Imaging: Workflow and Preclinical Study.

Kevin Cleary¹, Sunghwan Lim², Changhan Jun²

¹Children's National Health System, Sheikh Zayed Institute for Pediatric Surgical Innovation, 111 Michigan Avenue, Washington, DC 20010.

Academic Radiology

|October 28, 2017

Summary

This summary is machine-generated.

A new magnetic resonance imaging (MRI)-compatible robot enables precise long bone biopsies in children, minimizing trauma and radiation exposure. This robotic system achieved an average 3D targeting error of 1.39 mm in phantom studies.

Keywords:

MR Safe MRI Robotics long bone biopsy workflow

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Area of Science:

Medical Robotics
Diagnostic Imaging
Pediatric Oncology

Background:

Traditional bone biopsies may involve radiation exposure and trauma.
There is a need for minimally invasive, radiation-free diagnostic tools in pediatric bone cancer and infection cases.

Purpose of the Study:

To develop and evaluate an MRI-compatible robotic system for pediatric long bone biopsy.
To enable a workflow for bone biopsy entirely within the MRI suite, minimizing patient trauma and eliminating radiation exposure.

Main Methods:

Development of an MR Safe robotic system with 3 degrees of freedom and a remote center of motion.
Accuracy assessment using a long bone phantom in a 1.5T MRI scanner, with four targets drilled.
Workflow analysis involving eight needle guide approaches to the targets.

Main Results:

The robotic system successfully reached all four targets in the phantom study.
Average 3D targeting error was 1.39 mm (SD 0.40 mm).
Average time per targeting attempt, including setup, was 32 minutes.

Conclusions:

The MRI-compatible robot demonstrated precise targeting capabilities in a bone phantom.
The system offers potential clinical advantages, including operation at the MRI isocenter and providing a stable, accurate needle guide.