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Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and
Summary
A new 4 degree-of-freedom robot enhances percutaneous interventions under MRI guidance. This improved robotic system offers greater stability and accuracy for minimally invasive procedures.
Area of Science:
- Medical Robotics
- Interventional Radiology
- Magnetic Resonance Imaging
Background:
- Percutaneous interventions in the lower back require precise guidance.
- Existing robotic systems may have limitations in stability, accuracy, or ease of use.
- Magnetic Resonance Imaging (MRI) offers advanced soft-tissue visualization for guidance.
Purpose of the Study:
- To develop and evaluate an improved 4 degree-of-freedom (DOF) body-mounted parallel robot.
- To enhance stability, accuracy, and streamline assembly/calibration for MRI-guided interventions.
- To assess the system's performance for percutaneous procedures.
Main Methods:
- Development of a novel 4 DOF body-mounted parallel robotic system.
- Optimization of assembly and calibration workflows.
- Systematic evaluation of positioning and angular accuracy under MRI guidance.
Main Results:
- The improved robot structure demonstrated enhanced stability and accuracy.
- Positioning accuracy was measured at 2.28±1.1 mm.
- Angular accuracy was determined to be 1.94±1.01 degrees.
Conclusions:
- The newly developed robotic system shows promising and consistent behavior.
- The enhanced robot is suitable for assisting in MRI-guided percutaneous interventions.
- The optimized design facilitates practical clinical application.
