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A Cable-Driven Wearable Robot Design for Multi-Needle Positioning and Manipulation.

Zhen Wang1, Renjie Lu1, Fan Wei1

  • 1State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|April 21, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a novel wearable robot for precise multi-needle control during medical procedures. The system ensures compatibility with CT/MRI imaging, enabling safer and more accurate interventions.

Keywords:
MRI/CT‐compatiblecable‐drivenmulti‐needlerobotic needle interventionwearable robot

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Area of Science:

  • Robotics
  • Medical Engineering
  • Biomedical Devices

Background:

  • Multi-needle puncture is crucial for procedures like multi-target biopsy.
  • Existing robotic systems struggle with simultaneous 6-DoF multi-needle control and CT/MRI compatibility.

Purpose of the Study:

  • To develop a novel cable-driven wearable robot for simultaneous multi-needle manipulation.
  • To ensure the robot's compatibility with CT/MRI imaging for clinical applications.

Main Methods:

  • A 4-DoF parallel module for positioning and a 2-DoF module for steering were integrated.
  • Hybrid cable-driven transmission and non-metallic materials ensure CT/MRI compatibility.
  • A prototype was developed, and kinematic models were established for closed-loop control.

Main Results:

  • The prototype achieved static positioning accuracy below 0.5 mm.
  • Maximum puncture force reached 10.2 N, with a torque of 2.5 N·mm.
  • The system demonstrated stable and accurate multi-needle manipulation.

Conclusions:

  • The developed wearable robot design is validated by a functional prototype.
  • The system offers accurate multi-needle positioning and manipulation.
  • Full MRI/CT compatibility was maintained throughout the validation.