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A Pneumatically Actuated Robotic Assistant for MRI-Guided Stereotactic Neurosurgery
Gang Li1, Atharva Paralikar1, Pavel Yarmolenko1
1Gang Li, Atharva Paralikar, Pavel Yarmolenko, Ayush Nankani, Kevin Cleary, Chima Oluigbo, and Reza Monfaredi are with Children's National Hospital, Washington, DC, USA.
IEEE Transactions on Medical Robotics and Bionics
|June 1, 2026
Summary
This study introduces a novel robotic assistant for MRI-guided neurosurgery, achieving high accuracy in cadaveric evaluations. The system enhances precision for stereotactic procedures, minimizing image distortion during interventions.
Area of Science:
- Robotics in Medicine
- Neurosurgery
- Medical Imaging
Background:
- Stereotactic neurosurgery requires high precision for accurate targeting.
- Intraoperative Magnetic Resonance Imaging (MRI) guidance offers real-time visualization but poses challenges for robotic system integration.
- Existing robotic systems may not be fully compatible with MRI environments.
Purpose of the Study:
- To develop and evaluate a pneumatically actuated robotic assistant for MRI-guided stereotactic neurosurgery.
- To assess the targeting accuracy and clinical feasibility of the robotic system.
- To ensure minimal image degradation during robotic-assisted procedures.
Main Methods:
- Development of a pneumatically driven robotic system with four degrees of freedom, utilizing MR-Safe pneumatic stepper motors.
- Integration of custom-designed MR imaging coils for enhanced anatomical visualization.
- Validation of targeting accuracy using optical tracking, MRI-guided phantom studies, and a cadaveric evaluation.
Main Results:
- Mean absolute errors of 0.97 mm (position) and 0.46° (angle) in free space.
- System-level accuracy of 1.38 mm (position) and 1.08° (angle) in MRI-guided phantom studies.
- Cadaveric validation demonstrated clinical workflow accuracy with errors of 2.11 mm (position) and 3.32° (angle), alongside minimal image degradation (<12.26% SNR variation).
Conclusions:
- The developed pneumatically actuated robotic assistant is suitable for MRI-guided stereotactic neurosurgery.
- The system achieves high targeting accuracy and is compatible with intraoperative MRI guidance.
- The proposed clinical workflow and integrated imaging coils facilitate precise and safe neurosurgical interventions.
