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  1. Home
  3. A Pneumatically Actuated Robotic Assistant For Mri-guided Stereotactic Neurosurgery.
  1. Home
  3. A Pneumatically Actuated Robotic Assistant For Mri-guided Stereotactic Neurosurgery.

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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

View abstract on PubMed

Summary
This summary is machine-generated.

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.

Keywords:
MRI-guided robotpneumatic actuationstereotactic neurosurgery

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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.