Annals of Biomedical Engineering最新文献

{"title":"Pulmonary Artery Shear Stress and Oscillatory Shear Index are Associated with Right Ventricular Remodeling in Repaired Tetralogy of Fallot.","authors":"Elizabeth W Thompson, Anindro Bhattacharya, Fengling Hu, Russell T Shinohara, Paris Perdikaris, Kevin K Whitehead, Elizabeth Goldmuntz, Mark A Fogel, Walter R Witschey","doi":"10.1007/s10439-025-03793-0","DOIUrl":"https://doi.org/10.1007/s10439-025-03793-0","url":null,"abstract":"<p><strong>Purpose: </strong>Right ventricular (RV) remodeling in repaired tetralogy of Fallot (rToF) is a multifactorial process that may be affected by downstream hemodynamics. We therefore sought to characterize hemodynamics in the pulmonary arteries (PAs) of rToF patients using cardiovascular magnetic resonance (CMR)-derived computational fluid dynamics (CFD) and to study these variables in association with RV measurements at follow-up.</p><p><strong>Methods: </strong>We selected patients with two CMRs who had magnetic resonance angiography (MRA) performed at baseline. The PA was segmented from the main PA (MPA) through the first bifurcation of the left PA (LPA) and right PA (RPA). Both steady and pulsatile simulations were performed. For each vessel, we calculated curvature, tortuosity, and both average (avg) and peak steady WSS (WSS_steady), time-averaged WSS (taWSS), WSS in systole (WSS_systole), and WSS in diastole (WSS_diastole), as well as oscillatory shear index (OSI). We studied these variables in association with RV metrics at follow-up including: RV end-diastolic volume index (RVEDVi), RV end-systolic volume index (RVESVi), RV stroke volume index (RVSVi), and RV ejection fraction (RVEF), as well as the outcome of pulmonic valve replacement (PVR).</p><p><strong>Results: </strong>22 patients met the inclusion criteria. Several focal hemodynamic metrics in the main and branch PAs, including WSS_steady, taWSS, WSS_systole, WSS_diastole, and OSI were associated with RV measurements at follow-up, including RVEDVi, RVESVi, and RVSVi. LPA WSS_steady,avg, RPA WSS_steady,peak, whole vessel OSI_avg, and MPA OSI_avg were associated with likelihood of PVR.</p><p><strong>Conclusion: </strong>CFD-derived hemodynamic variables in the PAs of rToF patients are associated with both PVR and RV remodeling.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144558892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Progressive Collapsing Foot Deformity: Multi-bone Modeling and Joint Level Measurements.","authors":"Kassidy Knutson, Andrew C Peterson, Rich J Lisonbee, Takuma Miyamoto, Nicola Krähenbühl, Amy L Lenz","doi":"10.1007/s10439-025-03775-2","DOIUrl":"https://doi.org/10.1007/s10439-025-03775-2","url":null,"abstract":"<p><strong>Purpose: </strong>The objective of this study was to characterize joint level morphology and alignment differences across stages of progressive collapsing foot deformity (PCFD) within the talocrural, subtalar, talonavicular, and calcaneocuboid joints using multi-bone statistical shape modeling (SSM) and joint distance measurements from weightbearing computed tomography (WBCT) scans. This was achieved by employing multi-bone SSM in conjunction with precise joint measurement analysis, utilizing WBCT scans to investigate the intricate changes within the talocrural, subtalar, talonavicular, and calcaneocuboid joints.</p><p><strong>Methods: </strong>A retrospective analysis was conducted on patients with PCFD who failed conservative treatment. Two groups of 20 feet each were formed for flexible PCFD and rigid PCFD, with 27 additional feet identified as asymptomatic controls. All 67 participants underwent a WBCT scan, and 3D models were created as inputs for multi-bone SSM and joint distance measures.</p><p><strong>Results: </strong>The first principal component analysis mode contained 45.8% of the variation in the population while the second mode contained 13.3% of the variation and the third mode contained 6.4% of variation accounting for 65.6% of the overall variation in the multi-bone model. Joint space distance measurement differences were observed between all three groups for all articulations. The primary difference between flexible PCFD and rigid PCFD multi-bone SSM was a statistically significant medial shift of alignment of the talar neck, resulting in worsened peritalar subluxation.</p><p><strong>Conclusion: </strong>PCFD is quantifiably variable across a clinical population when evaluating joint level measurements as well as morphologic and alignment variations. Talonavicular joint malalignment severity may be a clinical key in distinguishing between stages of PCFD.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144551783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Advancements in Biomedical Sensors for Early Detection of Failure in Hip and Knee Implants: Scoping Review on Potential Sensors for Implant Integration.","authors":"P H Helene Noordhuis, Paul C Jutte, Ajay G P Kottapalli, Claudine J C Lamoth, C C Charissa Roossien","doi":"10.1007/s10439-025-03780-5","DOIUrl":"https://doi.org/10.1007/s10439-025-03780-5","url":null,"abstract":"<p><strong>Purpose: </strong>Despite significant advancements in hip and knee joint implant technology, 6.4% of implants fail within the first ten years due to aseptic loosening, instability, and/or infection. Implants equipped with sensors show promise in early failure detection, enabling early and reduced intervention. This scoping review aims to provide an overview of biomedical sensors and their potential for integration into hip- and knee implants.</p><p><strong>Methods: </strong>A comprehensive search of databases PubMed and Embase was performed. Inclusion criteria were sensors to detect failure causes infection, inflammation, loosening or wear; developed for biomedical applications; ex vivo, in vivo and/or in vitro studies. The sensors were analysed based on criteria per sensor characteristics (e.g. accuracy, durability, response time) relevant for implant integration.</p><p><strong>Results: </strong>49 articles were included presenting 52 sensors: 24 pressure and force, 6 strain, 15 acidity, 4 temperature, and 3 bacterial detection (3 dual sensing elements). Among these, three sensors were specifically designed for hip- and knee implants. The remaining 46 were developed for other biomedical applications. Our analysis identified two strain and seven acidity sensors that met the criteria for detecting hip- and knee implant failure. Two bacteria sensors showed potential for short-term use post-implantation, aligning with the critical period for periprosthetic infection, but the reporting frequency was too low to draw proper conclusions. No wear (particle) sensor was found.</p><p><strong>Conclusion: </strong>We found a significant gap in sensors that can detect wear particles. Future work on continuous implant monitoring should focus on reducing risk and the enhancement of sensor durability and longevity.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144551782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental Investigation of the Effect of a MitraClip on Left Ventricular Flow Dynamics.","authors":"Kowsar Teimouri, Ahmed Darwish, Wael Saleh, Hoi Dick Ng, Lyes Kadem","doi":"10.1007/s10439-025-03744-9","DOIUrl":"10.1007/s10439-025-03744-9","url":null,"abstract":"<p><strong>Purpose: </strong>The MitraClip device has emerged as an effective treatment option for patients with mitral regurgitation. However, implementing a MitraClip alters the mitral valve structure and left ventricular flow dynamics. In this study, we experimentally investigate the effects of the MitraClip and the resulting twin pulsed jets on flow dynamics within the left ventricle.</p><p><strong>Methods: </strong>A custom-made left heart pulse duplicator was utilized, considering three different configurations: (1) a healthy mitral valve; (2) a regurgitant mitral valve; and (3) a repaired mitral valve with a MitraClip device. The flow field within the left ventricle was examined using time-resolved particle image velocimetry across different planes. Of particular interest was the analysis of flow structures, viscous energy dissipation and the accumulation of viscous shear stresses in the left ventricle.</p><p><strong>Results: </strong>The results indicate that mitral valve regurgitation increases both viscous energy dissipation and the accumulation of viscous shear stresses in the left ventricle along with a 45% increase in peak velocity compared to the case with a normal mitral valve. Moreover, while mitral valve repair with a MitraClip alters the flow dynamics in the left ventricle, generating twin pulsed jets, it effectively reduces viscous energy dissipation (by 25 and 36% in the lateral and side planes, respectively) and shear stress accumulation compared to the regurgitant valve. However, these improvements do not fully restore the levels observed in a healthy mitral valve.</p><p><strong>Conclusion: </strong>MitraClip mitigates the adverse effects of mitral regurgitation by restoring key hemodynamic parameters closer to healthy levels, highlighting its potential as a promising treatment.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1715-1731"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143958023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Heparin Coating Decreases the Thrombotic Signature of Flow Diverter Stents.","authors":"Sina Farzaneh, Juan Miguel Jiménez","doi":"10.1007/s10439-025-03724-z","DOIUrl":"10.1007/s10439-025-03724-z","url":null,"abstract":"<p><strong>Purpose: </strong>Flow diverter stents (FDS) are used to treat aneurysms by modifying the intraaneurysmal hemodynamics and promoting a prothrombotic milieu. Thrombotic in-stent stenosis (ISS) is a common complication of endovascular treatment for intracranial aneurysms with flow diverter stents. The dominant approach to address ISS has been to either increase the dose of antiplatelet therapy agents or extend dual antiplatelet therapy (DAPT) causing ISS to resolve, while potentially exacerbating the side effects associated with DAPT. To decrease the risk of thrombotic ISS, surface coatings have been applied to flow diverter stents with promising results.</p><p><strong>Methods: </strong>The thrombotic signature of a bare metal and a heparin coated FDS was assessed in vitro. The flow diverter stents were exposed to pulsatile blood flow in a one-pass system to assess platelet and fibrin deposition, while flow cytometry was used to assess different markers of platelet activation in blood incubated with flow diverter stents for 30, 60, and 90 minutes.</p><p><strong>Results: </strong>Immunofluorescence and scanning electron microcopy results demonstrated greater fibrin and platelet deposition on bare metal flow diverter stents, while the heparin coated flow diverter stents had less fibrin and platelet deposition. A greater percentage of platelets were not only activated, but also presented higher levels of activation markers, in blood exposed to the bare metal flow diverter stents at the 90 minute time point in comparison to the heparin coated FDS.</p><p><strong>Conclusion: </strong>The findings demonstrate that heparin coated flow diverter stents are characterized by a lower thrombotic signature than bare metal flow diverter stents and raise the possibility of an additional therapeutic option to treat intracranial aneurysms.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1627-1637"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143954451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Quantification of In Situ Ulnar Nerve Strain and Constraint Tension in the Forearm.","authors":"Mark Carl Miller, Patrick J Schimoler, Harsh Shah, Alexander Kharlamov, R David Graham, Carol Armstrong, Andrew Wroblewski, Yue Yin, Peter Tang","doi":"10.1007/s10439-025-03733-y","DOIUrl":"10.1007/s10439-025-03733-y","url":null,"abstract":"<p><strong>Background: </strong>Surgical interventions for ulnar neuropathy are typically identified as releases or decompressions. With the expectation that ulnar nerve strain contributes to cubital tunnel syndrome and with the basic hypothesis that nerve tension will most significantly increase in positions of highest elbow flexion, wrist extension, and classic sites of compression, we initiated a new experimental technique to quantify strain and tension in the ulnar nerve.</p><p><strong>Methods: </strong>In five fresh-frozen cadaveric upper extremities from the spine to the wrist, we percutaneously placed small radiopaque spheres into the ulnar nerve using ultrasound guidance to allow tracking of ulnar nerve motion and elongation under fluoroscopy. This technique caused minimal disruption to the soft tissues tethering the nerve. In a custom jig, the forearm was fixed in space while varying elbow and wrist range of motion. After removal of the hand, we measured nerve motion and the tensions constraining the nerve using proportional techniques with application of loads at four standardized locations between the radiocarpal joint and elbow.</p><p><strong>Results: </strong>Means of all in situ tensions varied from 0.54 to 4.28 N. There were significant differences in these constraints tensions among the different elbow flexion angles (p = 0.020). There were differences in in situ tension at the sites of constraint but consistent strains across all four sites.</p><p><strong>Conclusion: </strong>The fluoroscopic technique with percutaneous marker placement successfully allowed strain and tension measurements. The differences in tensions but consistent strains suggest that surgical repair with attention to the attachment of the nerve might restore native nerve gliding and mechanical behavior.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1732-1739"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143961248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evaluating Clear Aligner Performance by Bone Strain Measurement: A Novel Experimental Approach.","authors":"Warisara Boonrueng, Pornthinee Phuricharoenwong, Pattamaporn Kumma, Piriya Kunarak, Kochakorn Lekvijittada, Nonglak Sombuntham, Chamaiporn Sukjamsri","doi":"10.1007/s10439-025-03734-x","DOIUrl":"10.1007/s10439-025-03734-x","url":null,"abstract":"<p><strong>Purpose: </strong>Clear aligner therapy has gained popularity; however, treatment outcomes often remain suboptimal, emphasizing the need to evaluate the biomechanical performance of clear aligners. Previous experimental studies have focused on measuring forces transferred to tooth models, but the absence of a periodontal ligament in these models limits their ability to simulate realistic orthodontic processes. This study introduces a novel method for assessing clear aligner performance using bone strain as a key indicator.</p><p><strong>Methods: </strong>An experimental device was developed, featuring a dental model with a periodontal ligament substitute fabricated from polyvinyl siloxane and a strain measurement system equipped with two strain gauges embedded in the bone component. The device's feasibility was evaluated by simulating the orthodontic treatment of a proclined maxillary central incisor, where bone strains were measured under controlled conditions of imposed forces up to 10 N applied to the crown and orthodontic forces exerted by clear aligners with activation angles of 1 and 2 degrees.</p><p><strong>Results: </strong>The results demonstrated that the fabrication technique for the periodontal ligament substitute was effective, achieving uniform thickness, while the strain gauges embedded in the dental model exhibited satisfactory accuracy when validated against the theory. Furthermore, the device reliably detected variations in bone strain across different force levels and aligner activation angles.</p><p><strong>Conclusion: </strong>These findings confirm the effectiveness of the proposed method and device in evaluating aligner performance, offering significant potential for future comparative studies of clear aligner designs and treatment protocols, thereby contributing to advancements in orthodontic research and improved clinical outcomes.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1615-1626"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143966601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"James-Stein Estimator Improves Accuracy and Sample Efficiency in Human Kinematic and Metabolic Data.","authors":"Aya Alwan, Manoj Srinivasan","doi":"10.1007/s10439-025-03718-x","DOIUrl":"10.1007/s10439-025-03718-x","url":null,"abstract":"<p><p>Human biomechanical data are often accompanied with measurement noise and behavioral variability. Errors due to such noise and variability are usually exaggerated by fewer trials or shorter trial durations and could be reduced using more trials or longer trial durations. Speeding up such data collection by lowering number of trials or trial duration, while improving the accuracy of statistical estimates, would be of particular interest in wearable robotics applications and when the human population studied is vulnerable (e.g., the elderly). Here, we propose the use of the James-Stein estimator (JSE) to improve statistical estimates with a given amount of data or reduce the amount of data needed for a given accuracy. The JSE is a shrinkage estimator that produces a uniform reduction in the summed squared errors when compared with the more familiar maximum likelihood estimator (MLE), simple averages, or other least squares regressions. When data from multiple human participants are available, an individual participant's JSE can improve upon MLE by incorporating information from all participants, improving overall estimation accuracy on average. Here, we apply the JSE to multiple time series of kinematic and metabolic data from the following parameter estimation problems: foot placement control during level walking, energy expenditure during circle walking, and energy expenditure during resting. We show that the resulting estimates improve accuracy-that is, the James-Stein estimates have lower summed squared error from the 'true' value compared with more conventional estimates.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1604-1614"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12185630/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143966699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"In Silico, Patient-Specific Assessment of Local Hemodynamic Predictors and Neointimal Hyperplasia Localisation in an Arteriovenous Graft.","authors":"Federica Ninno, Catriona Stokes, Edouard Aboian, Alan Dardik, David Strosberg, Stavroula Balabani, Vanessa Díaz-Zuccarini","doi":"10.1007/s10439-025-03737-8","DOIUrl":"10.1007/s10439-025-03737-8","url":null,"abstract":"<p><strong>Purpose: </strong>Most computational fluid dynamics (CFD) studies on arteriovenous grafts (AVGs) adopt idealised geometries and simplified boundary conditions (BCs), potentially resulting in misleading conclusions when attempting to predict neointimal hyperplasia (NIH) development. Moreover, they often analyse a limited range of hemodynamic indices, lack verification, and fail to link the graft-altered hemodynamics with follow-up data. This study develops a novel patient-specific CFD workflow for AVGs using pathophysiological BCs. It verifies the CFD results with patient medical data and assesses the co-localisation between CFD results and NIH regions at follow-up.</p><p><strong>Methods: </strong>Contrast-enhanced computed tomography angiography images were used to segment the patient's AVG geometry. A uniform Doppler ultrasound (DUS)-derived velocity profile was imposed at the inlet, and three-element Windkessel models were applied at the arterial outlets of the domain. Transient, rigid-wall simulations were performed using the k-ω SST turbulence model. The CFD-derived flow waveform was compared with the patient's DUS image to ensure verification. Turbulent kinetic energy (TKE), helicity and near-wall hemodynamic descriptors were calculated and linked with regions presenting NIH from a 4-month follow-up fistulogram.</p><p><strong>Results: </strong>In the analysed patient, areas presenting high TKE and balanced helical flow structures at baseline exhibit NIH growth at follow-up. Transverse wall shear stress index is a stronger predictor of NIH than other commonly analysed near-wall hemodynamic indices, since luminal areas subjected to high values greatly co-localise with observed areas of remodelling.</p><p><strong>Conclusion: </strong>This patient-specific computational workflow for AVGs could be applied to a larger cohort to unravel the link between altered hemodynamics and NIH progression in vascular access.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1575-1589"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12185642/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143957984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development of a Low-Profile, Piezoelectric Robot for MR-Guided Abdominal Needle Interventions.","authors":"Samuel Wilcox, Saikat Sengupta, Chuan Huang, Junichi Tokuda, Aiming Lu, David Woodrum, Yue Chen","doi":"10.1007/s10439-025-03719-w","DOIUrl":"10.1007/s10439-025-03719-w","url":null,"abstract":"<p><strong>Purpose: </strong>Minimally invasive needle-based interventions are commonly used in cancer diagnosis and treatment, including procedures, such as biopsy, brachytherapy, and microwave ablation. Although MR-guided needle placement offers several distinct advantages, such as high-resolution target visualization and accurate device tracking, one of the primary limitations that affect its widespread adoption is the ergonomic constraints of the closed-bore MRI environment, requiring the patients to be frequently moved in and out to perform the needle-based procedures. This paper introduces a low-profile, body-mounted, MR-guided robot designed to address this limitation by streamlining the operation workflow and enabling accurate needle placement within the MRI scanner.</p><p><strong>Methods: </strong>The robot employs piezoelectric linear actuators and stacked Cartesian XY stages to precisely control the position and orientation of a needle guide. A kinematic model and control framework was developed to facilitate accurate targeting. Additionally, clinical workflow for the liver interventions was developed to demonstrate the robot's capability to replicate existing procedures. The proposed system was validated in benchtop environment and 3T MRI scanner to quantify the system performance.</p><p><strong>Results: </strong>Experimental validations conducted in free space demonstrated a position accuracy of 2.38 ± 0.94 mm and orientation error of 1.40 ± 2.89°. Additional tests to confirm MR-conditionality and MR-guided phantom placements were carried out to assess the system's performance and safety in MRI suite, yielding a position error of 2.01 ± 0.77 mm and an orientation error of 1.57 ± 1.31°.</p><p><strong>Conclusion: </strong>The presented robot shows exceptional compatibility with a wide range of patients and bore sizes while maintaining clinically significant accuracy. Future work will focus on the validations in dynamic liver environments.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":"1638-1650"},"PeriodicalIF":3.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143960083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}