The PiR2 project gathers a set of technologies designed to help interventional radiologists targeting abdomino-pelvic organs. It is composed of 1) the Light Puncture Robot (LPR) : a patient mounted robot capable of inserting needle under MRI or CT guidance, 2) the PiR2 software application allowing the clinician to plan needle insertion trajectories on MRI or CT images and control the LPR. Our aim at MEDFIT is to look for potential industrial partners for the development of PiR2.