IEEE transactions on medical robotics and bionics最新文献_第9页

Experimental Testing and Dynamic Simulation of Walking Gait for Transfemoral Prostheses 经股假体行走步态的实验测试与动态模拟

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3681031

Kuang Nie;Yifei Dong;Xinyu Wu;Sheng Xu;Fei Gao

{"title":"Experimental Testing and Dynamic Simulation of Walking Gait for Transfemoral Prostheses","authors":"Kuang Nie;Yifei Dong;Xinyu Wu;Sheng Xu;Fei Gao","doi":"10.1109/TMRB.2026.3681031","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3681031","url":null,"abstract":"As prosthetic leg technology advances, accurate and efficient <italic>methods</i> for testing and evaluating prosthetic components are essential for further development. This work focused on developing a testing platform and performing a simulation model that can streamline prosthetic development and improve testing efficiency. Specifically, a gait simulator consisting of a six-degree-of-freedom (6-DOF) robotic arm integrated with a treadmill was developed to test transfemoral prostheses. The prostheses were fixed to the end of the robotic arm, which was controlled to track the trajectory and posture of the amputee’s residual thigh. In this case, the interactions between the residual limb and the prostheses were considered in this testing, as the motion of the residual limb has a great effect on the motion of the prostheses. Besides, the simulation model of the prostheses was developed to dynamically simulate the gait of the prostheses during walking. The parameters of the prostheses were tested by our platform. The gait of an above-knee amputee during walking was measured, and three prosthetic knees—Ottobock 3R80, Ottobock C-Leg, and a Liangkang Four-bar Linkage were tested here. Results show clear differences between amputee and healthy-subject thigh motion, highlighting the need for amputee-based testing. The gait simulator consistently achieved higher fidelity in reproducing knee kinematics, with average RMSE values of 4.06° vs. 5.64° (C-Leg), 4.70° vs. 8.40° (3R80), and 10.03° vs. 29.0° (Four-bar Linkage), along with higher correlation coefficients in all cases.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"844-855"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148508632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Miniature Intraoral Robot (MIR) for Minimally Invasive Tooth Preparation 微型口腔内机器人（MIR）用于微创牙齿准备

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-09 DOI: 10.1109/TMRB.2026.3682629

Yukiko Tomooka;Carina Schmidt;Jenni Hjerppe;Marc Balmer;Ronald Jung;Raphael Mohler;Ahmet Yildiz;Murali Karnam;Manuela Eugster;Georg Rauter

{"title":"Miniature Intraoral Robot (MIR) for Minimally Invasive Tooth Preparation","authors":"Yukiko Tomooka;Carina Schmidt;Jenni Hjerppe;Marc Balmer;Ronald Jung;Raphael Mohler;Ahmet Yildiz;Murali Karnam;Manuela Eugster;Georg Rauter","doi":"10.1109/TMRB.2026.3682629","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3682629","url":null,"abstract":"Dental restorations are used to replace the loss of natural tooth structure for medical reasons, to restore function, or to improve aesthetics. For this purpose, the affected teeth are manually prepared to provide adequate space for the dental restoration. The outcome of tooth preparation depends largely on the skills and experience of the dentists. To improve consistency, predictability, and reduce invasiveness, we developed a Miniature Intraoral Robot (MIR). The MIR was designed to be mounted inside the mouth and actuated by remotely placed motors via flexible shafts. This paper presents the workflow, requirements, concept, prototyped MIR design, and its performance evaluation in positioning accuracy and grinding of resin and dental hybrid ceramic workpieces on the test bench. Actuation via flex shafts successfully achieved delay-free 1:1 torque transmission across various speeds and frequencies. In open-loop control, the prototype successfully demonstrated circular path-following motions with and without grinding. The positioning error without grinding resulted in an average absolute positioning error of 0.18 mm. The deviation of the actual ground surface from the planned ground surface resulted in an average absolute error of 0.16 mm. These results suggest that the prototype reached the required order of magnitude for dental interventions despite the sole reliance on remotely placed motor encoders without any position sensors inside the MIR’s joints.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"727-738"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11478483","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148509428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Slope-Adaptive Gait Planning for the Powered Lower Limb Prosthesis: GRU-Based Coordination Mapping and Its Application 动力下肢假肢斜坡自适应步态规划：基于gru的协调映射及其应用

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-22 DOI: 10.1109/TMRB.2025.3646757

Yang Lv;Xiaoxu Zhang;Run Zhou;Wen Zhang;Chaoyu Song;Chao Chen;Chang Lu;Jian Xu

{"title":"Slope-Adaptive Gait Planning for the Powered Lower Limb Prosthesis: GRU-Based Coordination Mapping and Its Application","authors":"Yang Lv;Xiaoxu Zhang;Run Zhou;Wen Zhang;Chaoyu Song;Chao Chen;Chang Lu;Jian Xu","doi":"10.1109/TMRB.2025.3646757","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3646757","url":null,"abstract":"This study aims to develop a real-time, slope-adaptive gait planning method for powered knee-ankle prostheses to improve natural gait coordination in transfemoral amputees across variable speeds and slopes. A lightweight gated recurrent unit (GRU) network is proposed, leveraging motion-lagged hip angle, current hip angle, and slope angle as inputs. The system requires only two inertial measurement units (mounted on the socket and prosthetic foot) and a force sensor (at the ankle joint). Network regularization and hyperparameter optimization were applied to enhance computational efficiency, and subject-specific fine-tuning was used for personalized adaptation. The optimized GRU framework achieved high prediction accuracy with a prediction time of <0.007 s, enabling real-time deployment. Experiments with an amputee participant demonstrated seamless adaptation to variable slopes and speeds, improved gait symmetry, and reduced compensatory behaviors in the residual hip and intact ankle. The proposed method enables natural and adaptive gait coordination for transfemoral amputees using a computationally efficient, sensor-minimized approach. This work advances intelligent prostheses toward more natural locomotion in daily environments by improving adaptability to real-world terrain variations.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"368-380"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148487160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Conditional Latent Diffusion Models for PLAX Echocardiographic Image Synthesis: A Geometric-Anatomical Guided Approach PLAX超声心动图图像合成的条件潜在扩散模型：一种几何解剖引导方法

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-10-08 DOI: 10.1109/TMRB.2025.3617977

Angelo Lasala;Maria Chiara Fiorentino;Andrea Bandini;Sara Moccia

{"title":"Conditional Latent Diffusion Models for PLAX Echocardiographic Image Synthesis: A Geometric-Anatomical Guided Approach","authors":"Angelo Lasala;Maria Chiara Fiorentino;Andrea Bandini;Sara Moccia","doi":"10.1109/TMRB.2025.3617977","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3617977","url":null,"abstract":"Echocardiography is essential in cardiology, with the parasternal long axis (PLAX) view key to evaluating cardiac geometry and diagnosing ventricular hypertrophy. Measurements of cardiac structures—including ventricular dimensions and wall thickness, obtained by placing calipers on the walls—are often influenced by significant inter- and intra-clinician variability. The design of automated deep learning (DL) algorithms to address this issue and support clinician with measurements remains constrained by the limited availability of annotated echocardiographic datasets. To address this limitation, we propose a novel method to synthesize PLAX images by using spatial information from caliper positions. Our approach uses conditional latent diffusion models, guided by geometric-anatomical priors encoded through heatmap, ensuring alignment with cardiac anatomy. We evaluate the proposed method through a comprehensive comparison of conditioning strategies using specific metrics to quantify anatomical agreement between synthetic and real images. Our method shows superior performance, achieving the best image quality (Frechet Inception Distance:21.08) and anatomical consistency (Davies-Bouldin score:22.97). Synthetic images from our model enhanced the performance of DL models for caliper identification, showing their value in augmenting training datasets. By addressing variability and standardizing measurements, this approach paves the way for objective and reliable echocardiographic analysis, with promising implications for medical imaging analysis.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"18-29"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148487976","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Guest Editorial Advances in Rehabilitation Robotics—Selected Top Papers From ICORR 2025 康复机器人的进展-入选ICORR 2025顶级论文

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2026-03-11 DOI: 10.1109/TMRB.2026.3666314

Ana Luisa Trejos;Jon Sensinger

引用次数: 0

Integrating Learned Retraction and Model-Based Resection Planning for Automated Central Airway Obstruction Removal 整合学习式牵开和基于模型的中央气道自动切除计划

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-22 DOI: 10.1109/TMRB.2025.3646758

Tanner Watts;Mariana Smith;James Ferguson;Nural Yilmaz;Paul Maria Scheikl;Bao Thach;Brendan Burkhart;Tucker Hermans;Anton Deguet;Axel Krieger;Alan Kuntz

{"title":"Integrating Learned Retraction and Model-Based Resection Planning for Automated Central Airway Obstruction Removal","authors":"Tanner Watts;Mariana Smith;James Ferguson;Nural Yilmaz;Paul Maria Scheikl;Bao Thach;Brendan Burkhart;Tucker Hermans;Anton Deguet;Axel Krieger;Alan Kuntz","doi":"10.1109/TMRB.2025.3646758","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3646758","url":null,"abstract":"Surgeon shortages have driven significant recent advances in robotic surgical assistance. To progress toward surgical automation, we address transoral central airway obstruction (CAO) removal, selecting this procedure for its relatively constrained environment and clear clinical objectives. Prior work has demonstrated successful CAO removal with single-port, minimally invasive robotic systems, making it a promising target for autonomy. We present a new autonomous system designed for CAO removal that integrates a learning-based tissue retraction policy with a model-based resection planner, deployed on a bimanual robotic platform with vision guidance. While our long-term motivation is minimally invasive intervention, we evaluate our approach in an open-surgery setting, enabling rapid development and testing. We evaluate our system in 12 ex vivo CAO removal procedures running at three distinct levels of autonomy. Our results indicate that the learned retraction policy performs similarly or better than a manually designed heuristic, with a mean surgeon-rated score (1-10) of <inline-formula> <tex-math>$8.0{pm }1.6$ </tex-math></inline-formula> compared to <inline-formula> <tex-math>$6.8{pm }2.5$ </tex-math></inline-formula>, and a mean percent tumor volume removal of <inline-formula> <tex-math>$113.9{pm }18.8$ </tex-math></inline-formula>% compared to <inline-formula> <tex-math>$111.9{pm }13.3$ </tex-math></inline-formula>%. The model-based resections performed best when supervised, resulting in less tissue damage and better cutting accuracy. Furthermore, our approach produced clinically successful outcomes in all eight supervised autonomous trials. Notably, in one case, the system achieved complete tumor removal without any human intervention. Our overall findings underscore the importance of high-level supervision, revealing targets for future automation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"188-197"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148487295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improving Trans-Esophageal Echocardiography: A Miniaturized Cooling System 改进经食管超声心动图：一个小型化的冷却系统

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-15 DOI: 10.1109/TMRB.2025.3643910

Francesca Parrotta;Giovanni Faoro;Selene Tognarelli;Alberto Giannoni;Arianna Menciassi

{"title":"Improving Trans-Esophageal Echocardiography: A Miniaturized Cooling System","authors":"Francesca Parrotta;Giovanni Faoro;Selene Tognarelli;Alberto Giannoni;Arianna Menciassi","doi":"10.1109/TMRB.2025.3643910","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3643910","url":null,"abstract":"Minimally Invasive Surgery (MIS) for cardiac procedures was adopted in the late 90s as a valid alternative to open-heart surgeries, allowing for a minor operative trauma and a faster post-operative recovery. In the context of MIS, the presence of accurate imaging techniques is of paramount importance, as surgeons operate without a direct view of the surgical site. Nowadays, fluoroscopic and ultrasound (US) images, using a Trans-Esophageal probe, are simultaneously employed. The development of real-time three-dimensional Trans-Esophageal Echocardiography has enabled the execution of various trans-catheter procedures. However, recent studies have highlighted the occurrence of esophageal lesions following TEE-guided cardiac interventions. Specifically, probe insertion without direct visualization and repeated adjustment for optimal instrument guidance, along with prolonged use-induced heating, appear to be the primary causes of complications. The major reason for using a dual imaging technique is that commercial probes automatically switch off once a temperature threshold of approximately 42.5°C is reached; for safety reasons related to potential thermal damage to the internal walls of the esophagus. Based on numerical simulations and experimental results, a miniaturized cooling device for TEE probes is proposed, thus reinforcing the reliability of US images in the intraoperative scenario, as they are completely harmless to both patients and doctors. The proposed system consists of a silicone cap incorporating an internal cooling circuit. It does not interfere with the clinical workflow, effectively maintains the probe within a safe temperature range for the entire duration of a surgical procedure, and does not compromise intraoperative image quality.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"66-74"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11299591","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148487299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Membrane Sensorization for Acoustic Coupling Optimization in a Robotic HIFU Platform 基于膜传感器的机器人HIFU平台声耦合优化

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-10-06 DOI: 10.1109/TMRB.2025.3617983

Silvia Buratti;Daniele Moglia;Francesca Parrotta;Selene Tognarelli;Andrea Cafarelli;Mariangela Filosa;Calogero Maria Oddo;Arianna Menciassi

{"title":"Membrane Sensorization for Acoustic Coupling Optimization in a Robotic HIFU Platform","authors":"Silvia Buratti;Daniele Moglia;Francesca Parrotta;Selene Tognarelli;Andrea Cafarelli;Mariangela Filosa;Calogero Maria Oddo;Arianna Menciassi","doi":"10.1109/TMRB.2025.3617983","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3617983","url":null,"abstract":"High-Intensity Focused Ultrasound (HIFU) surgery is a non-invasive therapeutic technology that allows for precise energy delivery for ablating tumors and treating neurological disorders. Maintaining optimal acoustic coupling between the HIFU transducer and the patient’s skin is essential for treatment efficiency, but the coupling is often compromised by anatomical constraints, patient movements and wrong positioning. Monitoring pressure throughout the membrane would enable acoustic coupling optimization. In this framework, the objective of this study is to develop and validate a novel, acoustically transparent sensorized membrane as a foundational component for acoustic coupling optimization. Various sensors were tested acoustically for ultrasound transparency, with Fiber Bragg Grating (FBG) sensors demonstrating minimal wave reflection. A custom silicone membrane (<inline-formula> <tex-math>$700~mu $ </tex-math></inline-formula>m in thickness) was fabricated and acoustically and mechanically characterized. Ex vivo HIFU sonication validated the transparency of sensorized membrane, showing no statistically significant impact on lesion formation. Finally, the actual capability of the FBGs optical fiber to sense the contact across all the membrane was validated through indentation tests. By successfully demonstrating the feasibility and performance of this core component, this work establishes a foundation for real-time acoustic coupling optimization systems, paving the way for enhanced HIFU treatment safety and efficacy.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"30-40"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11193694","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148488016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Can Robotic Feedback and Adaptation Possibilities Match Therapeutic Needs? - An Observational Study 机器人反馈和适应的可能性能满足治疗需求吗？-一项观察性研究

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-15 DOI: 10.1109/TMRB.2025.3643990

Michael Sommerhalder;Madlaina Büchi;Saskia Risch;Anja M. Raab;Mario Widmer;Robert Riener;Peter Wolf

{"title":"Can Robotic Feedback and Adaptation Possibilities Match Therapeutic Needs? - An Observational Study","authors":"Michael Sommerhalder;Madlaina Büchi;Saskia Risch;Anja M. Raab;Mario Widmer;Robert Riener;Peter Wolf","doi":"10.1109/TMRB.2025.3643990","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3643990","url":null,"abstract":"An observational study with the Swiss Paraplegic Centre, Nottwil, aimed to tailor robotic systems to therapists’ preferences by quantifying therapist-patient interactions, as understanding the therapists’ adaptation strategies is essential for effective customization. A total of 2297 interactions were recorded in 198 exercises with 16 patient-therapist pairs, either directly or through a robotic device with enhanced analysis tools. Derived correlation maps quantified three preferred interaction strategies: Observation of compensatory movement and posture issues caused direct tactile reaction, issues with robotic settings led to robotic support adaptations, and robotic support adaptations preceded additional support adaptations without intermediate patient observation. Strategies varied by exercise type, with direct tactile reactions dominating reach-goal exercises and robotic adjustments dominating in nominal path exercises. We conclude that a limited set of robotic feedback and adaptation options fails to meet therapeutic needs, given the wide variability in individual rehabilitation strategies. In contrast, offering an exhaustive range of options overwhelms therapists, often causing them to favor direct patient interaction over engaging with the robotic system. Therefore, an optimal robotic system must incorporate methods that understand the therapist’s strategic intent and dynamically adapt the presented information and adjustable parameters to the specific needs and preferences of the operating therapist.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"418-429"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11299594","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148484075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Minimally Invasive Neurosurgical Robot for MRI-Guided Intratumoral Therapeutic Delivery 用于mri引导下肿瘤内治疗输送的微创神经外科机器人。

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2026-01-14 DOI: 10.1109/TMRB.2026.3654255

Saeed Rezaeian;Hengjie Chen;Chandan Sidhu;Brenda Bartnik-Olson;Behnam Badie;Jun Sheng

{"title":"Minimally Invasive Neurosurgical Robot for MRI-Guided Intratumoral Therapeutic Delivery","authors":"Saeed Rezaeian;Hengjie Chen;Chandan Sidhu;Brenda Bartnik-Olson;Behnam Badie;Jun Sheng","doi":"10.1109/TMRB.2026.3654255","DOIUrl":"10.1109/TMRB.2026.3654255","url":null,"abstract":"This paper presents the design, modeling, and feasibility study of a magnetic resonance (MR)-conditional steerable neurosurgical robot for minimally invasive intratumoral delivery of therapeutic agents. Immunotherapy is an emerging brain tumor treatment technique but faces challenges due to low trafficking with systemic infusions, particularly in the case of large tumors. To address this limitation, we have developed a novel robotic system capable of delivering therapeutic agents throughout the entire volume of the brain tumor. The robot consists of a straight, rigid outer tube and a flexible inner tube that can navigate along curved paths and articulate in 3D space. A custom-designed injection mechanism consisting of syringes and hydraulic transmission is integrated into the robotic system. A non-magnetic actuation system enables robot navigation to various locations within the tumor. Therefore, by delivering therapeutic agents to individual target locations, the overall trafficking and efficiency can be potentially improved. Characterization-based control experiments yielded a curvature control error of <inline-formula> <tex-math>$2.6pm 1.8%$ </tex-math></inline-formula> and a relative tip tracking error of <inline-formula> <tex-math>$4.2pm 3.9%$ </tex-math></inline-formula>, demonstrating the high accuracy of our control strategy. A phantom study demonstrated a significant improvement of the tumor coverage ratio made by the robotic needle compared to the straight needle (73% vs. 29%). An MRI-guided manipulation study showed an acceptable decrease in the signal-to-noise ratio (up to 1.41%) when the robot is manipulated in the water phantom. All these studies synergistically validated the feasibility of our new approach of robotically steerable, MRI-guided therapeutic delivery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"219-231"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147576811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0