MR Safe Robot Assisted Needle Access of the Brain: Preclinical Study

Abstract

We report the results of preclinical experiments for direct MRI-guided needle interventions in the brain. An MR Safe robot was incorporated into an intraoperative MRI system. Deep regions of the brain simulated in a cranial mockup were targeted with a needle under robotic assistance. The 3D accuracy of in-scanner targeting at an average depth of 95[Formula: see text]mm was 1.55[Formula: see text]mm, with no manual corrections.