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

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI:10.1002/rcs.70175

Xiang Li, Hui Li, Haozhe Fang, Zhihang Tan, Wenda Xu, Weidong Wang, Zhijiang Du

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引用次数: 0

Abstract

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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具有可变RCM的mri兼容脑穿刺机器人：设计和精度评估。

背景：mri引导下的神经外科手术需要高精度穿刺，但受到磁场约束和脑组织变形的挑战。方法：该机构采用非磁性材料（如PEEK和陶瓷轴承），由超声波压电驱动器驱动，以确保在强磁场下的安全性。复合摆弧RCM设计将RCM工作空间扩展到半球形区域，可以在220毫米直径内进行动态调整。通过多模态标定细化了D-H参数，实验验证了RCM的稳定性。结果：校准后，末端执行器绝对误差为2.16 mm，重复性为±1.02 mm，平均RCM偏差为0.57 mm。结论：该系统支持实时MRI下的自主穿刺，覆盖颅骨工作空间，为神经外科手术提供了精确、灵活的解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

The international journal of medical robotics + computer assisted surgery : MRCAS

CiteScore

5.30

自引率

0.00%

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