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    A new robotic system uses novel Harmonic Pneumatic Motors for precise Magnetic Resonance (MR) guided tumor targeting. This MR-compatible robot enhances accuracy in soft tissue interventions with minimal image quality impact.

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    Area of Science:

    • Robotics
    • Medical Imaging
    • Biomedical Engineering

    Background:

    • Magnetic Resonance Imaging (MRI) offers superior image quality and contrast, ideal for soft tissue tumor targeting in interventional procedures.
    • Existing robotic systems for MRI-guided interventions face challenges with compatibility and precision.

    Purpose of the Study:

    • To present an innovative, MR-compatible robotic system for precise tumor targeting using MRI.
    • To introduce novel Harmonic Pneumatic Motors for driving the robotic system within the MR environment.

    Main Methods:

    • Development of a four degrees of freedom (DOFs) robot utilizing four Harmonic Pneumatic Motors.
    • The Harmonic Pneumatic Motor employs a harmonic gearbox mechanism for torque generation.
    • Integration of a dual-stage needle guide for enhanced targeting accuracy.

    Main Results:

    • The Harmonic Pneumatic Motor achieves a step size of 0.9° and a maximum output torque of 825 mN·m.
    • Experimental tests confirmed a high robot positioning accuracy of 1.56 mm.
    • MR testing showed negligible signal-to-noise ratio (SNR) reduction, indicating excellent MR compatibility.

    Conclusions:

    • The Harmonic Pneumatic Motor-Driven Robot offers a significant advancement for compact MRI robots.
    • The system provides a precise, safe, and compatible solution for MRI-guided interventional procedures.