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Adaptation of a Haptic Robot in a 3T fMRI
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MRI-Compatible Brain Puncture Robot With Variable RCM: Design and Accuracy Assessment
Xiang Li1, Hui Li1, Haozhe Fang1
1State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
Background:
MRI-guided neurosurgery requires high-precision puncture, but is challenged by magnetic field constraints and brain tissue deformation.
Methods:
The mechanism is constructed from non-magnetic materials (e.g., PEEK and ceramic bearings) and driven by ultrasonic piezoelectric actuators to ensure safety in strong magnetic fields. A composite swing-arc RCM design extends the RCM workspace to a hemispherical region, enabling dynamic adjustment within a 220 mm diameter. D-H parameters are refined through multimodal calibration, and RCM stability is experimentally validated.
Results:
After calibration, the end-effector absolute error is 2.16 mm with a repeatability of ± 1.02 mm, and the mean RCM deviation is 0.57 mm.
Conclusions:
The system supports autonomous puncture under real-time MRI, covers the cranial workspace and provides a precise, flexible solution for neurosurgical procedures.
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