MRI-guided robotic systems and methods for biopsy

A method of using a guided robotic system, the method comprising:

• acquiring live magnetic resonance images of a subject via a magnetic resonance imaging apparatus;
• performing image analysis of the live magnetic resonance images to continuously identify a target portion of the subject within a magnetic region of the magnetic resonance imaging apparatus;
• automatically guiding a robotic arm towards an identified target portion of the subject within the magnetic region based on the live magnetic resonance images, wherein the robotic arm is configured to extend from a proximal end of the robotic arm and through a bore in the magnetic resonance imaging apparatus to position a distal end of the robotic arm outside of the bore, proximate to the subject, and within the magnetic region, wherein the magnetic resonance imaging apparatus is positioned intermediate the proximal end of the robotic arm and the subject during a surgical procedure;
• and
• performing the surgical procedure at the target portion of the subject.

A guided robotic system, comprising:

• a magnetic resonance imaging apparatus for real-time imaging of a subject within a magnetic region of the magnetic resonance imaging apparatus;
• a computer system for analyzing images in real-time;
• and
• a robotic system comprising a robotic arm, wherein the robotic system is configured to guide the robotic arm during a surgical procedure based on real-time analysis of the images, and wherein the robotic arm comprises:
• a proximal end;
• and
• a distal end configured to hold a robotic surgical tool;
• wherein the magnetic resonance imaging apparatus is positioned intermediate the proximal end of the robotic arm and the subject during the surgical procedure,
• wherein the robotic arm is configured to extend from the proximal end of the robotic arm and through a bore in the magnetic resonance imaging apparatus to position the distal end of the robotic arm outside of the bore, proximate to the subject, and within the magnetic region of the magnetic resonance imaging apparatus.