Hybrid pneumatic-hydraulic actuation for MRI-guided robotic stereotactic neurointervention

IF 12.5 1区综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES

Science Advances Pub Date : 2025-09-03 DOI:10.1126/sciadv.ady3624

Shaoping Huang, Zhao He, Yi Chen, Jiafan Chen, Shijie Hong, Yi Zhang, Longyu Xu, Yixin Pan, Shuo Ma, Lian Xuan, Qingdang Meng, Yong Yang, Yangyang Xu, Zecai Lin, Chuqian Lou, Cheng Zhou, Weidong Chen, Bomin Sun, Qingfang Sun, Yuan Feng, Anzhu Gao, Guang-Zhong Yang

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引用次数: 0

Abstract

Stereotactic neurointervention is a common procedure for biopsy, injection, ablation, and implantation of electrodes for deep brain stimulation. Guided by preoperative imaging, conventional approaches are mostly performed manually, lacking operation stability and interactive feedback. The intraoperative magnetic resonance imaging (MRI) guidance enables both structural and functional assessment during operation, permitting interactive adaptation to tissue deformation and avoidance of critical anatomical regions. Here, we report an MRI-guided robotic system for stereotactic neurointervention. A macro-micro hybrid pneumatic-hydraulic actuated stereotactic robot with a large range of motion and high precision is developed. This is coupled with a compact bioinspired soft actuator for target intervention. A global-focal MRI sequence is proposed for interactive navigation, closed-loop control, and precise targeting. Validation is performed with phantom, cadaveric, and in vivo animal studies, showing positional accuracies of 0.39, 0.68, and 0.14 millimeters, respectively, demonstrating superior performance compared to the current state of the art in robotic-assisted stereotactic neurointervention.

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混合气-液驱动的mri引导机器人立体定向神经干预

立体定向神经介入是脑深部电刺激的活检、注射、消融和电极植入的常用方法。常规入路多在术前影像学指导下手工操作，缺乏操作稳定性和交互反馈。术中磁共振成像（MRI）指导可以在手术过程中进行结构和功能评估，允许对组织变形进行交互式适应，并避免关键解剖区域。在这里，我们报告了一个mri引导的立体定向神经干预机器人系统。研制了一种运动范围大、精度高的宏微混合气液驱动立体定向机器人。这是加上一个紧凑的生物启发软驱动器的目标干预。提出了一种全局聚焦MRI序列，用于交互式导航、闭环控制和精确定位。通过幻影、尸体和活体动物研究进行验证，显示定位精度分别为0.39、0.68和0.14毫米，与目前机器人辅助立体定向神经干预技术相比，显示出优越的性能。

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来源期刊

Science Advances 综合性期刊-综合性期刊

CiteScore

21.40

自引率

1.50%

发文量

1937

审稿时长

29 weeks

期刊介绍： Science Advances, an open-access journal by AAAS, publishes impactful research in diverse scientific areas. It aims for fair, fast, and expert peer review, providing freely accessible research to readers. Led by distinguished scientists, the journal supports AAAS's mission by extending Science magazine's capacity to identify and promote significant advances. Evolving digital publishing technologies play a crucial role in advancing AAAS's global mission for science communication and benefitting humankind.