# Low‐Complexity Robotic Device for Magnetic Resonance Imaging‐Guided Needle Biopsy

## TL;DR

A simple robotic device helps align needles accurately during MRI-guided biopsies, improving precision and control.

## Contribution

A low-complexity robotic system with MRI integration for semiautomated needle alignment in biopsies is introduced.

## Key findings

- The device achieved submillimeter alignment accuracy in phantom experiments for 5-mm and 10-mm tumor models.
- The system operated without failures during preliminary testing.

## Abstract

This work presents a low‐complexity robotic device for needle‐to‐target alignment designed to streamline Magnetic Resonance Imaging (MRI)‐guided biopsy procedures while maintaining physician control over insertion.

The robotic device was designed with a rigid frame incorporating two linear degrees of freedom for the in‐plane alignment of a needle guide with a predefined target. Trajectory planning and automated motion execution, including image transfer and sequence triggering, were managed through a custom MRI‐integrated software interface. Preliminary evaluation of alignment accuracy was performed in an agar phantom containing 5 and 10 mm tumour mimics.

In phantom experiments, the system consistently achieved submillimeter alignment accuracy for both the 5‐mm and 10‐mm tumour models across all trials, without any operational failures.

These preliminary findings demonstrate the feasibility of the proposed robotic device for semiautomated MRI‐guided abdominal biopsy, pending further extensive preclinical testing.