Stoianovici, Dan Kim, Chunwoo Petrisor, Doru Jun, Changhan Lim, Sunghwan Ball, Mark W. Ross, Ashley Macura, Katarzyna Jadwiga Allaf, Mohamad E. 2024-01-20T02:30:54Z 2024-01-20T02:30:54Z 2021-08-31 2017-02 1083-4435 https://pubs.kist.re.kr/handle/201004/123169 Compatibility of mechatronic devices with the MR environment has been a very challenging engineering task. After over a decade of developments, we report the successful translation to clinical trials of our MR safe robot technology. MrBot is a six degree of freedom, pneumatically actuated robot for transperineal prostate percutaneous access, built exclusively of electrically nonconductive and nonmagnetic materials. Its extensive preclinical tests have been previously reported. Here, we present the latest technology developments, an overview of the regulatory protocols, and technically related results of the clinical trial. The Food and Drug Administration (FDA) has approved the MrBot for the biopsy trial, which was successfully performed in five patients. With no trajectory corrections and no unsuccessful attempts to target a site, the robot achieved an MRI-based needle targeting accuracy of 2.55 mm. To the best of our knowledge, this is the first robot approved by the FDA for the MR environment. The results confirm that it is possible to perform safe and accurate robotic manipulation in the MRI scanner, and the development of MR safe robots is no longer a daunting technical challenge. English Institute of Electrical and Electronics Engineers MR Safe Robot, FDA Clearance, Safety and Feasibility of Prostate Biopsy Clinical Trial Article 10.1109/TMECH.2016.2618362 1 IEEE/ASME Transactions on Mechatronics, v.22, no.1, pp.115 - 126 IEEE/ASME Transactions on Mechatronics 22 1 115 126 N scie scopus 000395750100014 Automation & Control Systems Engineering, Manufacturing Engineering, Electrical & Electronic Engineering, Mechanical Automation & Control Systems Engineering Article BRACHYTHERAPY SEED PLACEMENT ACR GUIDANCE DOCUMENT NEEDLE PLACEMENT SYSTEM INTERVENTIONS FUSION CANCER PRINCIPLE ACCURACY PROOF Clinical trial Food and Drug Administration (FDA) magnetic resonance imaging (MRI) compatible medical robotics motor MR safe pneumatic prostate biopsy robot