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Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation.

Yupeng Zou¹, Tianyu Lan¹, Yanxing Zhang¹

¹College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|September 7, 2025

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A novel parallel cable-driven (PCD) robot simplifies prostate puncture surgery within MRI's magnetic field. This robotic system demonstrates high accuracy and stiffness, overcoming workspace limitations for improved surgical procedures.

Area of Science:

Medical Robotics
Surgical Technology
Biomedical Engineering

Background:

MRI environments pose significant challenges for robotic surgical system design due to limited workspace and strong magnetic fields.
Simplifying robot structure is essential for effective prostate puncture procedures within MRI scanners.

Purpose of the Study:

To propose and evaluate a novel parallel cable-driven (PCD) robot for prostate puncture surgery.
To address the design challenges posed by MRI's magnetic field and limited workspace.

Main Methods:

Development of a parallel cable-driven (PCD) prostate puncture robot with preliminary material design.
Establishment of kinematics, statics, and stiffness models, with verification of the wrench-feasible workspace.
Utilizing multibody simulation and motion accuracy experiments (planar and spatial) for performance analysis.

Keywords:

parallel cable‐driven puncture surgical robot simulation and experiment validation wrench‐feasible workspace analysis

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Main Results:

The robot achieved high motion accuracy, with horizontal position errors of 0.35 mm and 0.4 mm during phantom puncture experiments.
Stiffness performance was evaluated, demonstrating the robot's capability for precise surgical tasks.
The parallel cable-driven design was shown to be compatible with strong magnetic fields.

Conclusions:

The proposed non-parallel cable-driven design simplifies robotic structure for MRI-compatible prostate puncture surgery.
The robot demonstrates high motion accuracy and superior stiffness, crucial for surgical precision.
This innovative design overcomes MRI environmental challenges, enhancing potential for robotic-assisted prostate interventions.