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Updated: Feb 1, 2026

A MRI-Based Toolbox for Neurosurgical Planning in Nonhuman Primates
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Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.

Tipakorn Greigarn1, Nate Lombard Poirot1, Xinyang Xu1

  • 1Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.

IEEE Robotics and Automation Letters
|December 15, 2018
PubMed
Summary
This summary is machine-generated.

This study introduces a new motion planning method for MRI-actuated robots, enabling precise robotic catheter ablation. The approach ensures accurate robot movements on tissue surfaces for improved medical interventions.

Keywords:
Surgical Robotics: PlanningSurgical Robotics: Steerable Catheters/Needles

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Area of Science:

  • Robotics
  • Medical Imaging
  • Biomedical Engineering

Background:

  • Robot-assisted medical interventions, like robotic catheter ablation, require precise end-effector control on tissue surfaces.
  • Existing methods may lack the necessary precision for complex tasks in medical procedures.

Purpose of the Study:

  • To present a novel task-space motion planning method for MRI-actuated continuum robots.
  • To enable precise steering of the robot's end-effector along desired trajectories on tissue surfaces.

Main Methods:

  • Modeling the continuum robot using the pseudo-rigid-body model, approximating its body with linked rigid segments and flexible joints.
  • Formulating the quasistatic motion model as a potential energy minimization problem.
  • Utilizing the Jacobian of the quasistatic motion model to calculate actuations for directional control.

Main Results:

  • The developed motion planning method successfully generates actuation trajectories for the MRI-actuated robot.
  • Experimental validation in a clinical 3-T MRI scanner demonstrated the method's effectiveness in controlling robot movement on a surface.

Conclusions:

  • The proposed task-space motion planning method offers a viable solution for precise control of MRI-actuated continuum robots.
  • This advancement has the potential to enhance the safety and efficacy of robot-assisted medical interventions, particularly in procedures like catheter ablation.