MRI-guided lumbar spinal injections with body-mounted robotic system: cadaver studies

Gang Li (Lead / Corresponding author), Niravkumar A. Patel, Andreas Melzer, Karun Sharma, Iulian Iordachitaa, Kevin Cleary

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)
146 Downloads (Pure)


Introduction: This paper reports the system integration and cadaveric assessment of a body-mounted robotic system for MRI-guided lumbar spine injections. The system is developed to enable MR-guided interventions in closed bore magnet and avoid problems due to patient movement during cannula guidance.

Material and methods: The robot is comprised by a lightweight and compact structure so that it can be mounted directly onto the lower back of a patient using straps. Therefore, it can minimize the influence of patient movement by moving with the patient. The MR-Conditional robot is integrated with an image-guided surgical planning workstation. A dedicated clinical workflow is created for the robot-assisted procedure to improve the conventional freehand MRI-guided procedure.

Results: Cadaver studies were performed with both freehand and robot-assisted approaches to validate the feasibility of the clinical workflow and to assess the positioning accuracy of the robotic system. The experiment results demonstrate that the root mean square (RMS) error of the target position to be 2.57 ± 1.09 mm and of the insertion angle to be 2.17 ± 0.89°.

Conclusion: The robot-assisted approach is able to provide more accurate and reproducible cannula placements than the freehand procedure, as well as to reduce the number of insertion attempts.

Original languageEnglish
Pages (from-to)297-305
Number of pages9
JournalMinimally Invasive Therapy and Allied Technologies
Issue number2
Early online date30 Jul 2020
Publication statusPublished - 1 Feb 2022


  • MR image-guided therapy
  • lumbar spine injections
  • body-mounted robot
  • MRI-guided robot

ASJC Scopus subject areas

  • Surgery


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