TABLE III.

Proposed Workflow for the Robotic FLA

Step	Description	Time
1. System Setup	Physical setup of robot and system in MR suite	20 min.
2. Subject Positioning	Aligning position of subject and robot	10 min.
3. Localizing Scan	Initial scan to determine subject/robot location	5 min.
4. Registration & Anatomy Scan	High-resolution scans of target anatomy and robot fiducials	20 min.
5. OncoNav Targeting	Identification of target anatomy and sectioning targets	15 min.
6. Robot Adjustment	Aligning robot guide with target point	2 min.
7. Trocar Insertion	Inserting trocar and sheath into patient	2 min.
8. Catheter Insertion	Removal of trocar, insertion of catheter	2 min.
9. Confirmation Scan	Confirming catheter location	5 min.
10. MR Thermometry	Tracking of tissue heating during ablation	5 min.
11. Repeat 6 through 10	For new target or repositioning on current target	15 min.
	Total	101 min