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Related Experiment Video

Updated: Jun 11, 2025

Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures
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In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided

Mariana C Bernardes1, Pedro Moreira1, Dimitri Lezcano2

  • 1Brigham and Women's Hospital, Harvard Medical School, Boston, MA 02115, USA.

IEEE Robotics and Automation Letters
|October 7, 2024
PubMed
Summary

This study introduces autonomous robotic needle steering for prostate cancer biopsies, improving MRI-guided accuracy. The novel approach achieved a mean target error of 2.2 mm in animal studies, enhancing diagnostic and treatment precision.

Keywords:
Medical Robots and SystemsSteerable Catheters/NeedlesSurgical Robotics

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Area of Science:

  • Medical Imaging and Interventional Radiology
  • Robotics in Medicine
  • Biomedical Engineering

Background:

  • Accurate needle placement is critical for prostate cancer diagnosis and treatment.
  • MRI-guided transperineal needle biopsies present significant targeting challenges.
  • Existing methods often require multiple insertions, increasing patient discomfort and procedure time.

Purpose of the Study:

  • To develop and evaluate a parameter-agnostic, autonomous robotic needle steering system for MRI-guided prostate cancer biopsies.
  • To improve targeting accuracy and reduce needle reinsertions during transperineal procedures.
  • To assess the system's performance and MRI compatibility in an *in vivo* animal model.

Main Methods:

  • Implementation of a data-driven, closed-loop strategy for radial displacement and FBG-based shape sensing.
  • Development of an autonomous needle steering system integrated with MRI guidance.
  • Conducting a prostate cancer mock biopsy procedure in an animal study to emulate clinical complexity.

Main Results:

  • The robotic needle steering system demonstrated a significant improvement in targeting accuracy (p<0.05).
  • Mean target error was reduced to 2.2 ± 1.9 mm on first insertion attempts.
  • The system achieved high accuracy without the need for needle reinsertions, indicating enhanced precision and efficiency.

Conclusions:

  • The developed autonomous robotic needle steering system significantly enhances targeting accuracy for MRI-guided prostate cancer biopsies.
  • This study presents the first *in vivo* evaluation of robotic needle steering with FBG-sensor feedback, validating its clinical potential.
  • The findings represent a crucial advancement towards the clinical translation of robotic-assisted, image-guided interventions for prostate cancer management.