MRI-compatible and sensorless haptic feedback for cable-driven medical robotics to perform teleoperated needle-based...

Area of Science:

• Robotics
• Medical Imaging
• Surgical Technology

Background:

• Surgical robotics enhance minimally invasive surgery.
• Haptic and tactile feedback improve surgeon performance and patient outcomes.
• Current robotic systems lack interaction feedback, especially in interventional Magnetic Resonance Imaging (iMRI).

Purpose of the Study:

• To develop sensorless haptic feedback (SHF) for robotic-assisted iMRI needle advancement.
• To integrate collision detection and automation for percutaneous needle punctures.
• To evaluate the technical performance and user experience of the SHF system.

Main Methods:

• Utilized a cable-driven 'Micropositioning Robotics for Image-Guided Surgery' (µRIGS) system.
• Employed the back-electromotive force effect for sensorless tensile force measurement.
• Tested the system on three soft-tissue mimicking phantoms for force feedback evaluation.

Main Results:

• Achieved an 800 Hz sampling rate and 0.26 ± 0.22 N force resolution.
• Mean maximum force reached 15 N, with data aligning with intended force progression.
• User study revealed no significant differences between SHF and manual needle puncture.

Conclusions:

• The developed SHF is a novel, MR-compatible technique for real-time needle-based interventions.
• This technology bridges the gap in interaction feedback for robotic-assisted iMRI.
• It enhances control and safety in image-guided surgical procedures.