Table 4 –

Workflow & procedural time for MRI-guided spinal cord injections

Step	Description	Time
1. Robot Setup	Setting up the robot and control unit in the scanner and control rooms	10 min.
2. Patient/robot Preparation	Locating subject on the scanner table, and mounting the robot on the spine of the scan subject.	20 min.
3. Initial Scans	Localizing scans and high-resolution volumetric images of target anatomy	15 min.
4. Registration	Registering the robot to the MRI coordinate using fiducial markers	2 min
5. Planning	Choice of target and needle path points by operator	2 min.
6. Positioning & Insertion	Relocation of the needle guide to the target point. Needle insertion into the spinal cord with gadolinium injection.	5 min.
7. Confirmation	Confirmation scan to verify final tip position	5 min.
8. New Target	Repeating Steps 5–7	10 min.
	Total:	59+ min.