MRI-Compatible Brain Puncture Robot With Variable RCM: Design and Accuracy Assessment.

Area of Science:

• Medical Robotics
• Neurosurgery Technology
• Magnetic Resonance Imaging Applications

Background:

• MRI-guided neurosurgery demands high-precision puncture capabilities.
• Strong magnetic fields and brain tissue deformation pose significant challenges to existing robotic systems.

Purpose of the Study:

• To develop a novel robotic system for MRI-guided neurosurgery that overcomes magnetic field constraints.
• To enhance precision and flexibility in autonomous neurosurgical puncture procedures.

Main Methods:

• A non-magnetic mechanism utilizing PEEK and ceramic bearings, driven by ultrasonic piezoelectric actuators, was designed for MRI safety.
• A composite swing-arc robotic અમારા control (RCM) design expanded the workspace to a hemispherical region (220 mm diameter).
• Denavit-Hartenberg (D-H) parameters were refined via multimodal calibration, and RCM stability was experimentally validated.

Main Results:

• The calibrated system demonstrated an end-effector absolute error of 2.16 mm and a repeatability of ±1.02 mm.
• The mean RCM deviation was measured at 0.57 mm, indicating high accuracy.
• The system successfully supported autonomous puncture under real-time MRI guidance.

Conclusions:

• The developed robotic system offers a precise and flexible solution for neurosurgical procedures.
• It effectively covers the cranial workspace, enabling autonomous puncture under real-time MRI.
• This technology addresses key challenges in MRI-guided neurosurgery, improving safety and efficacy.