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Published on: April 21, 2013
Low-Complexity Robotic Device for Magnetic Resonance Imaging-Guided Needle Biopsy
Anastasia Antoniou1, Nikolas Evripidou1, Leonidas Georgiou2
1Department of Electrical Engineering, Computer Engineering, and Informatics, Cyprus University of Technology, Limassol, Cyprus.
Background:
This work presents a low-complexity robotic device for needle-to-target alignment designed to streamline Magnetic Resonance Imaging (MRI)-guided biopsy procedures while maintaining physician control over insertion.
Methods:
The robotic device was designed with a rigid frame incorporating two linear degrees of freedom for the in-plane alignment of a needle guide with a predefined target. Trajectory planning and automated motion execution, including image transfer and sequence triggering, were managed through a custom MRI-integrated software interface. Preliminary evaluation of alignment accuracy was performed in an agar phantom containing 5 and 10 mm tumour mimics.
Results:
In phantom experiments, the system consistently achieved submillimeter alignment accuracy for both the 5-mm and 10-mm tumour models across all trials, without any operational failures.
Conclusions:
These preliminary findings demonstrate the feasibility of the proposed robotic device for semiautomated MRI-guided abdominal biopsy, pending further extensive preclinical testing.
