We present a novel real-time MRI-based 2D slice plane control strategy for the Sunram7 robotic biopsy system. By analyzing three concurrent 2D MRI slices, our algorithm accurately determines needle tip position and orientation, enabling dynamic trajectory adjustments. This approach substantially improves hit rates and reduces procedure time compared to traditional methods.
Our findings highlight the potential of real-time feedback to enhance the precision and efficiency of robotic systems in interventional procedures.