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\n \n\n \n \n \n \n \n \n System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy.\n \n \n \n \n\n\n \n Patel, N. A.; Li, G.; Shang, W.; Wartenberg, M.; Heffter, T.; Burdette, E. C.; Iordachita, I.; Tokuda, J.; Hata, N.; Tempany, C. M.; and Fischer, G. S.\n\n\n \n\n\n\n Journal of Medical Robotics Research, 04(02): 1950001. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"SystemPaper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@article{patel2018system,\nabstract = {This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5[Formula: see text]mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0[Formula: see text]mm and 3.7[Formula: see text]mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system's effectiveness and accuracy for MR image-guided prostate biopsy are underway.},\nauthor = {Patel, Niravkumar A. and Li, Gang and Shang, Weijian and Wartenberg, Marek and Heffter, Tamas and Burdette, Everette C. and Iordachita, Iulian and Tokuda, Junichi and Hata, Nobuhiko and Tempany, Clare M. and Fischer, Gregory S.},\ndoi = {10.1142/s2424905x19500016},\nissn = {2424-905X},\njournal = {Journal of Medical Robotics Research},\nnumber = {02},\npages = {1950001},\npublisher = {World Scientific},\ntitle = {{System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy}},\nurl = {https://doi.org/10.1142/S2424905X19500016},\nvolume = {04},\nyear = {2019}\n}\n
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\n This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5[Formula: see text]mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0[Formula: see text]mm and 3.7[Formula: see text]mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system's effectiveness and accuracy for MR image-guided prostate biopsy are underway.\n
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\n \n\n \n \n \n \n \n Evaluation of robot-assisted MRI-guided prostate biopsy: Needle path analysis during clinical trials.\n \n \n \n\n\n \n Moreira, P.; Patel, N.; Wartenberg, M.; Li, G.; Tuncali, K.; Heffter, T.; Burdette, E. C.; Iordachita, I.; Fischer, G. S.; Hata, N.; Tempany, C. M.; and Tokuda, J.\n\n\n \n\n\n\n Physics in Medicine and Biology, 63(20). 2018.\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@article{moreira2018evaluation,\nabstract = {While the interaction between a needle and the surrounding tissue is known to cause a significant targeting error in prostate biopsy leading to false-negative results, few studies have demonstrated how it impacts in the actual procedure. We performed a pilot study on robot-assisted MRI-guided prostate biopsy with an emphasis on the in-depth analysis of the needle-tissue interaction in vivo. The data were acquired during in-bore transperineal prostate biopsies in patients using a 4 degrees-of-freedom (DoF) MRI-compatible robot. The anatomical structures in the pelvic area and the needle path were reconstructed from MR images, and quantitatively analyzed. We analyzed each structure individually and also proposed a mathematical model to investigate the influence of those structures in the targeting error using the mixed-model regression. The median targeting error in 188 insertions (27 patients) was 6.3 mm. Both the individual anatomical structure analysis and the mixed-model analysis showed that the deviation resulted from the contact between the needle and the skin as the main source of error. On contrary, needle bending inside the tissue (expressed as needle curvature) did not vary among insertions with targeting errors above and below the average. The analysis indicated that insertions crossing the bulbospongiosus presented a targeting error lower than the average. The mixed-model analysis demonstrated that the distance between the needle guide and the patient skin, the deviation at the entry point, and the path length inside the pelvic diaphragm had a statistically significant contribution to the targeting error (p < 0.05). Our results indicate that the errors associated with the elastic contact between the needle and the skin were more prominent than the needle bending along the insertion. Our findings will help to improve the preoperative planning of transperineal prostate biopsies.},\nauthor = {Moreira, Pedro and Patel, Niravkumar and Wartenberg, Marek and Li, Gang and Tuncali, Kemal and Heffter, Tamas and Burdette, Everette C. and Iordachita, Iulian and Fischer, Gregory S. and Hata, Nobuhiko and Tempany, Clare M. and Tokuda, Junichi},\ndoi = {10.1088/1361-6560/aae214},\nissn = {13616560},\njournal = {Physics in Medicine and Biology},\nkeywords = {in-bore prostate biopsy,needle deflection,needle path analysis,robot-assisted biopsy},\nnumber = {20},\npmid = {30226214},\npublisher = {IOP Publishing},\ntitle = {{Evaluation of robot-assisted MRI-guided prostate biopsy: Needle path analysis during clinical trials}},\nvolume = {63},\nyear = {2018}\n}\n
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\n While the interaction between a needle and the surrounding tissue is known to cause a significant targeting error in prostate biopsy leading to false-negative results, few studies have demonstrated how it impacts in the actual procedure. We performed a pilot study on robot-assisted MRI-guided prostate biopsy with an emphasis on the in-depth analysis of the needle-tissue interaction in vivo. The data were acquired during in-bore transperineal prostate biopsies in patients using a 4 degrees-of-freedom (DoF) MRI-compatible robot. The anatomical structures in the pelvic area and the needle path were reconstructed from MR images, and quantitatively analyzed. We analyzed each structure individually and also proposed a mathematical model to investigate the influence of those structures in the targeting error using the mixed-model regression. The median targeting error in 188 insertions (27 patients) was 6.3 mm. Both the individual anatomical structure analysis and the mixed-model analysis showed that the deviation resulted from the contact between the needle and the skin as the main source of error. On contrary, needle bending inside the tissue (expressed as needle curvature) did not vary among insertions with targeting errors above and below the average. The analysis indicated that insertions crossing the bulbospongiosus presented a targeting error lower than the average. The mixed-model analysis demonstrated that the distance between the needle guide and the patient skin, the deviation at the entry point, and the path length inside the pelvic diaphragm had a statistically significant contribution to the targeting error (p < 0.05). Our results indicate that the errors associated with the elastic contact between the needle and the skin were more prominent than the needle bending along the insertion. Our findings will help to improve the preoperative planning of transperineal prostate biopsies.\n
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\n \n\n \n \n \n \n \n Evaluation of robot-assisted MRI-guided prostate biopsy: Needle path analysis during clinical trials.\n \n \n \n\n\n \n Moreira, P.; Patel, N.; Wartenberg, M.; Li, G.; Tuncali, K.; Heffter, T.; Burdette, E. C.; Iordachita, I.; Fischer, G. S.; Hata, N.; Tempany, C. M.; and Tokuda, J.\n\n\n \n\n\n\n Physics in Medicine and Biology, 63(20). 2018.\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@article{moreira2018evaluation,\nabstract = {While the interaction between a needle and the surrounding tissue is known to cause a significant targeting error in prostate biopsy leading to false-negative results, few studies have demonstrated how it impacts in the actual procedure. We performed a pilot study on robot-assisted MRI-guided prostate biopsy with an emphasis on the in-depth analysis of the needle-tissue interaction in vivo. The data were acquired during in-bore transperineal prostate biopsies in patients using a 4 degrees-of-freedom (DoF) MRI-compatible robot. The anatomical structures in the pelvic area and the needle path were reconstructed from MR images, and quantitatively analyzed. We analyzed each structure individually and also proposed a mathematical model to investigate the influence of those structures in the targeting error using the mixed-model regression. The median targeting error in 188 insertions (27 patients) was 6.3 mm. Both the individual anatomical structure analysis and the mixed-model analysis showed that the deviation resulted from the contact between the needle and the skin as the main source of error. On contrary, needle bending inside the tissue (expressed as needle curvature) did not vary among insertions with targeting errors above and below the average. The analysis indicated that insertions crossing the bulbospongiosus presented a targeting error lower than the average. The mixed-model analysis demonstrated that the distance between the needle guide and the patient skin, the deviation at the entry point, and the path length inside the pelvic diaphragm had a statistically significant contribution to the targeting error (p < 0.05). Our results indicate that the errors associated with the elastic contact between the needle and the skin were more prominent than the needle bending along the insertion. Our findings will help to improve the preoperative planning of transperineal prostate biopsies.},\nauthor = {Moreira, Pedro and Patel, Niravkumar and Wartenberg, Marek and Li, Gang and Tuncali, Kemal and Heffter, Tamas and Burdette, Everette C. and Iordachita, Iulian and Fischer, Gregory S. and Hata, Nobuhiko and Tempany, Clare M. and Tokuda, Junichi},\ndoi = {10.1088/1361-6560/aae214},\nissn = {13616560},\njournal = {Physics in Medicine and Biology},\nkeywords = {in-bore prostate biopsy,needle deflection,needle path analysis,robot-assisted biopsy},\nnumber = {20},\npmid = {30226214},\npublisher = {IOP Publishing},\ntitle = {{Evaluation of robot-assisted MRI-guided prostate biopsy: Needle path analysis during clinical trials}},\nvolume = {63},\nyear = {2018}\n}\n
\n
\n\n\n
\n While the interaction between a needle and the surrounding tissue is known to cause a significant targeting error in prostate biopsy leading to false-negative results, few studies have demonstrated how it impacts in the actual procedure. We performed a pilot study on robot-assisted MRI-guided prostate biopsy with an emphasis on the in-depth analysis of the needle-tissue interaction in vivo. The data were acquired during in-bore transperineal prostate biopsies in patients using a 4 degrees-of-freedom (DoF) MRI-compatible robot. The anatomical structures in the pelvic area and the needle path were reconstructed from MR images, and quantitatively analyzed. We analyzed each structure individually and also proposed a mathematical model to investigate the influence of those structures in the targeting error using the mixed-model regression. The median targeting error in 188 insertions (27 patients) was 6.3 mm. Both the individual anatomical structure analysis and the mixed-model analysis showed that the deviation resulted from the contact between the needle and the skin as the main source of error. On contrary, needle bending inside the tissue (expressed as needle curvature) did not vary among insertions with targeting errors above and below the average. The analysis indicated that insertions crossing the bulbospongiosus presented a targeting error lower than the average. The mixed-model analysis demonstrated that the distance between the needle guide and the patient skin, the deviation at the entry point, and the path length inside the pelvic diaphragm had a statistically significant contribution to the targeting error (p < 0.05). Our results indicate that the errors associated with the elastic contact between the needle and the skin were more prominent than the needle bending along the insertion. Our findings will help to improve the preoperative planning of transperineal prostate biopsies.\n
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\n \n\n \n \n \n \n \n \n ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment.\n \n \n \n \n\n\n \n Frank, T.; Krieger, A.; Leonard, S.; Patel, N. A.; and Tokuda, J.\n\n\n \n\n\n\n International Journal of Computer Assisted Radiology and Surgery, 12(8): 1451–1460. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"ROS-IGTL-Bridge:Paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@article{frank2017ros,\nabstract = {Purpose: With the growing interest in advanced image-guidance for surgical robot systems, rapid integration and testing of robotic devices and medical image computing software are becoming essential in the research and development. Maximizing the use of existing engineering resources built on widely accepted platforms in different fields, such as robot operating system (ROS) in robotics and 3D Slicer in medical image computing could simplify these tasks. We propose a new open network bridge interface integrated in ROS to ensure seamless cross-platform data sharing. Methods: A ROS node named ROS-IGTL-Bridge was implemented. It establishes a TCP/IP network connection between the ROS environment and external medical image computing software using the OpenIGTLink protocol. The node exports ROS messages to the external software over the network and vice versa simultaneously, allowing seamless and transparent data sharing between the ROS-based devices and the medical image computing platforms. Results: Performance tests demonstrated that the bridge could stream transforms, strings, points, and images at 30 fps in both directions successfully. The data transfer latency was <1.2 ms for transforms, strings and points, and 25.2 ms for color VGA images. A separate test also demonstrated that the bridge could achieve 900 fps for transforms. Additionally, the bridge was demonstrated in two representative systems: a mock image-guided surgical robot setup consisting of 3D slicer, and Lego Mindstorms with ROS as a prototyping and educational platform for IGT research; and the smart tissue autonomous robot surgical setup with 3D Slicer. Conclusion: The study demonstrated that the bridge enabled cross-platform data sharing between ROS and medical image computing software. This will allow rapid and seamless integration of advanced image-based planning/navigation offered by the medical image computing software such as 3D Slicer into ROS-based surgical robot systems.},\nauthor = {Frank, Tobias and Krieger, Axel and Leonard, Simon and Patel, Niravkumar A. and Tokuda, Junichi},\ndoi = {10.1007/s11548-017-1618-1},\nissn = {18616429},\njournal = {International Journal of Computer Assisted Radiology and Surgery},\nkeywords = {Image-guided therapy,Interface,OpenIGTLink,ROS,Surgical robot},\nnumber = {8},\npages = {1451--1460},\npmid = {28567563},\npublisher = {Springer},\ntitle = {{ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment}},\nurl = {https://doi.org/10.1007/s11548-017-1618-1},\nvolume = {12},\nyear = {2017}\n}\n
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\n\n\n
\n Purpose: With the growing interest in advanced image-guidance for surgical robot systems, rapid integration and testing of robotic devices and medical image computing software are becoming essential in the research and development. Maximizing the use of existing engineering resources built on widely accepted platforms in different fields, such as robot operating system (ROS) in robotics and 3D Slicer in medical image computing could simplify these tasks. We propose a new open network bridge interface integrated in ROS to ensure seamless cross-platform data sharing. Methods: A ROS node named ROS-IGTL-Bridge was implemented. It establishes a TCP/IP network connection between the ROS environment and external medical image computing software using the OpenIGTLink protocol. The node exports ROS messages to the external software over the network and vice versa simultaneously, allowing seamless and transparent data sharing between the ROS-based devices and the medical image computing platforms. Results: Performance tests demonstrated that the bridge could stream transforms, strings, points, and images at 30 fps in both directions successfully. The data transfer latency was <1.2 ms for transforms, strings and points, and 25.2 ms for color VGA images. A separate test also demonstrated that the bridge could achieve 900 fps for transforms. Additionally, the bridge was demonstrated in two representative systems: a mock image-guided surgical robot setup consisting of 3D slicer, and Lego Mindstorms with ROS as a prototyping and educational platform for IGT research; and the smart tissue autonomous robot surgical setup with 3D Slicer. Conclusion: The study demonstrated that the bridge enabled cross-platform data sharing between ROS and medical image computing software. This will allow rapid and seamless integration of advanced image-based planning/navigation offered by the medical image computing software such as 3D Slicer into ROS-based surgical robot systems.\n
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\n \n\n \n \n \n \n \n \n In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation.\n \n \n \n \n\n\n \n Eslami, S.; Shang, W.; Li, G.; Patel, N.; Fischer, G. S.; Tokuda, J.; Hata, N.; Tempany, C. M.; and Iordachita, I.\n\n\n \n\n\n\n International Journal of Medical Robotics and Computer Assisted Surgery, 12(2): 199–213. 2016.\n \n\n\n\n
\n\n\n\n \n \n \"In-borePaper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@article{eslami2016bore,\nabstract = {Background: Robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of prostate cancer in humans. Methods: This paper discusses the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of four sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in clinical trials. Results: The manipulator has undergone several experiments to evaluate the repeatability and accuracy (about 1 mm in air (in x or y direction) at the needle's reference point) of needle placement, which is an essential concern in percutaneous prostate interventions. Conclusion: The acquired results endorse the sustainability, precision and reliability of the manipulator. Copyright {\\textcopyright} 2015 John Wiley & Sons, Ltd.},\nauthor = {Eslami, Sohrab and Shang, Weijian and Li, Gang and Patel, Nirav and Fischer, Gregory S. and Tokuda, Junichi and Hata, Nobuhiko and Tempany, Clare M. and Iordachita, Iulian},\ndoi = {10.1002/rcs.1671},\nissn = {1478596X},\njournal = {International Journal of Medical Robotics and Computer Assisted Surgery},\nkeywords = {MRI compatible,biopsy,calibration assessment,parallel manipulator,prostate transperineal intervention},\nnumber = {2},\npages = {199--213},\npmid = {26111458},\npublisher = {Wiley Online Library},\ntitle = {{In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation}},\nurl = {https://doi.org/10.1002/rcs.1671},\nvolume = {12},\nyear = {2016}\n}\n
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\n Background: Robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of prostate cancer in humans. Methods: This paper discusses the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of four sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in clinical trials. Results: The manipulator has undergone several experiments to evaluate the repeatability and accuracy (about 1 mm in air (in x or y direction) at the needle's reference point) of needle placement, which is an essential concern in percutaneous prostate interventions. Conclusion: The acquired results endorse the sustainability, precision and reliability of the manipulator. Copyright © 2015 John Wiley & Sons, Ltd.\n
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\n  \n inproceedings\n \n \n (1)\n \n \n
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\n \n\n \n \n \n \n \n \n Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance.\n \n \n \n \n\n\n \n Patel, N. A.; Van Katwijk, T.; Li, G.; Moreira, P.; Shang, W.; Misra, S.; and Fischer, G. S.\n\n\n \n\n\n\n In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, volume 2015-Novem, pages 4869–4874, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"Closed-loopPaper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@inproceedings{patel2015closed,\nabstract = {Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle's insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.},\nauthor = {Patel, Niravkumar A. and {Van Katwijk}, Tim and Li, Gang and Moreira, Pedro and Shang, Weijian and Misra, Sarthak and Fischer, Gregory S.},\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\ndoi = {10.1109/EMBC.2015.7319484},\nisbn = {9781424492718},\nissn = {1557170X},\norganization = {IEEE},\npages = {4869--4874},\npmid = {26737384},\ntitle = {{Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance}},\nurl = {https://doi.org/10.1109/EMBC.2015.7319484},\nvolume = {2015-Novem},\nyear = {2015}\n}\n
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\n Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle's insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.\n
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