A prototype body-mounted MRI-compatible robot for needle guidance in shoulder arthrography

Document Type

Conference Proceeding

Publication Date



Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics




A novel compact and lightweight patient-mounted MRI-compatible robot has been designed for MRI imageguided interventions. This robot is intended to enable MRIguided needle placement as done in shoulder arthrography. The robot could make needle placement more accurate and simplify the current workflow by converting the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to a one-stage procedure (streamlined workflow all in MRI suite). The robot has 4 degrees of freedom (DOF), two for orientation of the needle and two for needle positioning. The mechanical design was based on several criteria including rigidity, MRI compatibility, compact design, sterilizability, and adjustability. The proposed workflow is discussed and initial MRI compatibility experiments are presented. The results show that artifacts in the region of interest are minimal and that MRI images of the shoulder were not adversely affected by placing the robot on a human volunteer.

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