MR-safe robotic needle driver for real-time MRI-guided minimally invasive procedures: a feasibility study

Area of Science:

• Medical Robotics
• Magnetic Resonance Imaging (MRI) Technology
• Surgical Instrumentation

Background:

• MRI-guided interventions offer precise visualization but require specialized tools.
• Existing robotic systems may lack MRI compatibility or precise needle manipulation.
• Development of MR-safe instruments is crucial for advancing minimally invasive procedures.

Purpose of the Study:

• To develop and test the feasibility of a novel, pneumatically actuated, MR-safe robotic needle driver.
• To enable automated, straight-trajectory insertion and extraction of needles within an MRI scanner.
• To evaluate the device's compatibility with MRI environments and its targeting accuracy.

Main Methods:

• Constructed the needle driver using MR-safe plastic resins and composite materials.
• Employed a pneumatically operated clamp for secure needle attachment (18-22 gauge).
• Utilized a rack-and-pinion mechanism within a helical slot for precise needle movement, mimicking manual procedures.

Main Results:

• Demonstrated minimal Signal-to-Noise Ratio (SNR) change (max 6.6%) and geometric distortion (max 0.24%) in MRI.
• Achieved a mean positioning accuracy of 2.38 ± 1.00 mm at 50 mm depth in a phantom.
• Recorded negligible linear trajectory deviation and low angulation error (0.51°).

Conclusions:

• The prototype robotic needle driver successfully performs automated needle insertion and extraction.
• The device is confirmed to be MR-safe, showing minimal impact on MRI quality.
• This robotic driver presents a viable platform for future MRI-guided interventions.