Anastasia Antoniou

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

This study concerns the development and evaluation of a simple and ergonomic robotic system for Magnetic Resonance Imaging (MRI)-guided needle breast biopsy with lateral needle approach. The device comprises two piezoelectrically actuated linear motion stages intended to align a needle supporter with the target for manual needle insertion. The device demonstrated submillimeter accuracy and safe operation within a 3 T clinical MRI scanner. In phantom studies, tumor simulators of varying sizes were successfully targeted in both laboratory and MRI settings.

Background: A prototype robotic system that uses magnetic resonance guided focused ultrasound (MRgFUS) technology is presented. It features three degrees of freedom (DOF) and is intended for thermal ablation of abdominal cancer.Methods: The device is equipped with three identical transducers being offset between them, thus focussing at different depths in tissue. The efficacy and safety of the system in ablating rabbit liver and kidney was assessed, both in laboratory and magnetic resonance imaging (MRI) conditions.Results: Despite these organs' challenging location, in situ coagulative necrosis of a tissue area was achieved. Heating of abdominal organs in rabbit was successfully monitored with MR thermometry.Conclusions: The MRgFUS system was proven successful in creating lesions in the abdominal area of rabbits. The outcomes of the study are promising for future translation of the technology to the clinic.