نبذة مختصرة : In closed-bore MRI units, assistance systems play a crucial role in overcoming patient access limitations during percutaneous interventions. In this work, we present eGantryMate, a piezo-motor-driven assistance system specifically designed for MR-guided needle interventions in high-field MRI systems. eGantryMate consists of an instrument positioning unit and a control unit equipped with piezo motors, radiofrequency filters, and shielding. Paired with a real-time tracking sequence for automatic marker detection and projection of the instrument trajectory onto the MR image, eGantryMate enables precise and efficient needle interventions. Targeting experiments were performed by inserting a biopsy needle into a series of fiducial targets in a phantom, and usability experiments were conducted in vivo without needle insertion. The results show artifact-free MR imaging, minimal temperature rise on the instrument positioning unit, and precise targeting capabilities. These findings demonstrate eGantryMate’s ability to perform real-time needle alignments and insertions within the magnet bore, highlighting its potential to enhance the acceptability and efficacy of MR-guided interventions.
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