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Abstract #2043

Open-Source 3D-Printable MRI-Conditional Needle Placement Robot for MR-Guided Prostate Interventions

Junichi Tokuda1,2, Pedro Moreira1,2, Mariana Bernardes1,2, Laura Connolly3,4, Aravind Kumar4, Lidia Al-Zogbi4, Lori Foley1, Kemal Tuncali1,2, Clare Tempany1,2, Nobuhiko Hata1,2, Iordachita Iulian4, Axel Krieger4, Anton Deguet4, and Simon Leonard4
1Brigham and Women's Hospital, Boston, MA, United States, 2Harvard Medical School, Boston, MA, United States, 3Queen's University, Kingston, ON, Canada, 4Johns Hopkins University, Baltimore, MD, United States

Synopsis

Keywords: MR-Guided Interventions, MR-Guided Interventions, Robotics

Motivation: Accurate needle placement is a foundation for MRI-guided intervention and has been a topic of research in medical robotics. However, the lack of a common research hardware platform presents a challenge for basic research and clinical translation.

Goal(s): To develop a new open-source 3D-printable MRI-conditional needle placement robot that facilitates rapid prototyping, testing, and resource sharing.

Approach: The proposed robot was fabricated using a 3D printer and evaluated in a swine model to test its feasibility in inserting a biopsy needle in vivo.

Results: The robot was successfully used in a mock biopsy procedure in the swine model under 3T MRI guidance.

Impact: This 3D-printed robot allows for open-source hardware development for rapid prototyping, testing, and resource sharing of an MRI-guided needle placement robot. It provides a solution for open science promoted by a growing number of organizations and government agencies worldwide.

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