{"doi":"10.1115/dmd2023-2247","title":"DESIGN OF AN MRI-COMPATIBLE ROBOT FOR IMAGE-GUIDED NEEDLE INSERTION PROCEDURES USING ACTIVE TENDON-DRIVEN NEEDLES","abstract":"Abstract Visualization and tip tracking of needles inside the body in needle-based interventions are usually challenging using conventional medical imaging modalities such as ultrasound and CT. MRI provides an amazing imaging feedback for the operator to target lesions with a great confidence. However, the needle should be operated teleoperatively using a robot interface. This work introduces a novel design of an MRI-compatible (slave) robot for image-guided needle insertions. The robot is designed with MRI-compatible materials and actuators to enable manual initial positioning inside the MRI bore prior to operation, as well as robotic teleoperation (insertion and actuation) of an active tendon-driven needle towards targets. The range of motion is shown to be appropriate for transperineal prostate interventions such as prostate biopsy and brachytherapy.","journal":null,"year":2023,"id":396662,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":2,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9505,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2023-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":1172430,"name":"Olivia Lee Sprouse","orcid":null,"position":1,"is_corresponding":false},{"id":1172431,"name":"Ryan Justin Padilla","orcid":null,"position":2,"is_corresponding":false},{"id":935774,"name":"Bardia Konh","orcid":"0000-0001-9700-8751","position":3,"is_corresponding":false},{"id":1114863,"name":"Samuel Lafreniere","orcid":null,"position":0,"is_corresponding":true}],"reference_count":0,"raw_metadata":null,"created_at":"2026-07-19T01:19:31.472087Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}