The international journal of medical robotics + computer assisted surgery : MRCAS最新文献_第2页

Robot-Assisted Radical Trachelectomy With Sleeve Technique for Preventing Postoperative Cervical Adhesion. 机器人辅助气管根治术与套筒技术预防术后宫颈粘连。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70186

Xuzhi Liang, Roufei Lu, Shuqi Wu, Huisi Lin, Hong Chen, Dan Sun, Jiangtao Fan

{"title":"Robot-Assisted Radical Trachelectomy With Sleeve Technique for Preventing Postoperative Cervical Adhesion.","authors":"Xuzhi Liang, Roufei Lu, Shuqi Wu, Huisi Lin, Hong Chen, Dan Sun, Jiangtao Fan","doi":"10.1002/rcs.70186","DOIUrl":"10.1002/rcs.70186","url":null,"abstract":"Background: To investigate the effect of robot-assisted radical trachelectomy (RRT) with the sleeve technique omitting anti-adhesion devices on postoperative cervical adhesion, perioperative, reproductive observations, and preliminary oncologic follow-up.Methods: A retrospective analysis was conducted on 8 early-stage cervical cancer patients who underwent RRT with the sleeve technique. No cervical anti-adhesion devices were used. Patients were followed up to assess the status of cervical adhesion, menstruation recovery, fertility, and recurrence.Results: The FIGO stages of the 8 patients were IA2 (n = 1), IB1 (n = 5), and IB2 (n = 2). All resumed menstruation without cervical adhesion or recurrence during follow-up. Three of them attempted conception, one of whom became pregnant and gave birth to a live singleton via cesarean section in early January 2026.Conclusion: Preliminary clinical observations suggest that RRT with the sleeve technique may help reduce postoperative cervical adhesion without the use of anti-adhesion devices, which implies that individualised cervical adhesion prevention strategies should be considered.Trial registration: This study is a case series and thus does not require clinical trial registration. It has been approved by the Research Ethics Committee of Guangxi Medical University First Affiliated Hospital with the approval number IRB No.2025-E0850.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70186"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147965898","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

Predicting Positive Surgical Margins in Robot-Assisted Prostatectomy Using Machine Learning Models. 使用机器学习模型预测机器人辅助前列腺切除术的阳性手术切缘。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70172

Gen Fan, Haochuan Chen, Yang Li, Yushui Chen, Tielong Tang

引用次数: 0

Impact of Previous Abdominal Surgery on the Outcomes of Robotic Resection for Colorectal Cancer: An Analysis of Conversions, Short-Term Outcomes and Quality of Oncologic Resections. 既往腹部手术对结直肠癌机器人切除结果的影响：肿瘤切除的转归、短期结果和质量分析

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70182

Serra Bayrakceken, Aria Sarikhani, Volkan Ozben, Nur Ramoglu, Ahmet Anil Sahar, Arda Ulas Mutlu, Ismail Ahmet Bilgin, Bilgi Baca

{"title":"Impact of Previous Abdominal Surgery on the Outcomes of Robotic Resection for Colorectal Cancer: An Analysis of Conversions, Short-Term Outcomes and Quality of Oncologic Resections.","authors":"Serra Bayrakceken, Aria Sarikhani, Volkan Ozben, Nur Ramoglu, Ahmet Anil Sahar, Arda Ulas Mutlu, Ismail Ahmet Bilgin, Bilgi Baca","doi":"10.1002/rcs.70182","DOIUrl":"10.1002/rcs.70182","url":null,"abstract":"Background: This study investigated the impact of previous abdominal surgery (PAS) on short-term outcomes in robotic resection for colorectal cancer.Methods: 517 patients with colon or rectal cancer undergoing robotic resection between 2014 and 2024 were categorised into the no-PAS (n = 359) and PAS (n = 158) groups with further subdivision into minor and major PAS. Thirty-day outcomes and pathologic findings were compared.Results: No significant differences existed between the PAS and no-PAS groups regarding preoperative characteristics. The rates of conversions (0.6% vs. 1.1%), intraoperative complications (2.5% vs. 2.2%), mean number of nodal harvest (32.5 ± 17.4 vs. 32.5 ± 17.1), and surgical margin positivity (2.5% vs. 0.6%) were similar. The minor PAS subgroup demonstrated a higher rate of surgical margin positivity (3.2% vs. 0%, p = 0.04).Conclusions: The results of this study suggest that robotic colorectal cancer surgery can be performed with similar short-term outcomes and comparable oncologic resection quality in patients with PAS.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70182"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148007546","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

Robot-Assisted Radical Prostatectomy Using the KangDuo-SR-2000: A Prospective, Multicenter, Single-Arm Clinical Study. 使用KangDuo-SR-2000机器人辅助根治性前列腺切除术：一项前瞻性、多中心、单臂临床研究。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70167

Zihao Tao, Zheng Zhang, Ziqi Wang, Shubo Fan, Xu Chen, Zhihua Li, Silu Chen, Xinfei Li, Kunlin Yang, Changfu Li, Dechao Li, Yangyang Xu, Tao Xu, Jianzhang Li, Honglei Wang, Bing Wang, Rengong Liu, Xicai Zhang, Minghua Zhang, Zihui Gao, Zhongyuan Zhang, Han Hao, Lin Yao, Kai Zhang, Yaming Gu, Liqun Zhou, Wanhai Xu, Cheng Shen, Xuesong Li

{"title":"Robot-Assisted Radical Prostatectomy Using the KangDuo-SR-2000: A Prospective, Multicenter, Single-Arm Clinical Study.","authors":"Zihao Tao, Zheng Zhang, Ziqi Wang, Shubo Fan, Xu Chen, Zhihua Li, Silu Chen, Xinfei Li, Kunlin Yang, Changfu Li, Dechao Li, Yangyang Xu, Tao Xu, Jianzhang Li, Honglei Wang, Bing Wang, Rengong Liu, Xicai Zhang, Minghua Zhang, Zihui Gao, Zhongyuan Zhang, Han Hao, Lin Yao, Kai Zhang, Yaming Gu, Liqun Zhou, Wanhai Xu, Cheng Shen, Xuesong Li","doi":"10.1002/rcs.70167","DOIUrl":"10.1002/rcs.70167","url":null,"abstract":"Background: This study aimed to evaluate the feasibility, safety and effectiveness of the newly developed KangDuo-Surgical-Robot-2000 (KD-SR-2000) in robotic assisted radical prostatectomy (RARP).Methods: This prospective, multicenter, single-arm trial was conducted from October 2023 to April 2024. Thirty patients with clinical T1-3 prostate cancer underwent RARP using the KD-SR-2000. The study was approved by the institutional review boards. Perioperative results, early oncologic outcomes, urinary continence, and ergonomic workload (NASA-TLX) were assessed.Results: All surgeries were performed successfully without any conversion. No severe perioperative complications (Clavien-Dindo grade ≥ III) or equipment-related adverse events occurred. Positive surgical margin was observed in five patients (16.7%). One (3.3%) patient experienced PSA persistence at 6 weeks. Urinary continence rate was 66.7% (20/30) at 4 weeks after catheter removal. The median NASA-TLX score was 22.5 (IQR 6-35.25).Conclusions: This study demonstrates the preliminary feasibility, safety and effectiveness of the KD-SR-2000 robotic system in RARP.Trial registration: www.chictr.org.cn: ChiCTR2300076954.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70167"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147936024","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

Robotic Surgery for Bronchial Sleeve Lobectomy: A Systematic Review and Bayesian Network Meta-Analysis. 支气管袖状肺叶切除术的机器人手术：系统综述和贝叶斯网络meta分析。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70181

Chen Wang, Liyan Qiao, Yiming Xu, Xuyang Li, Lingdong Qiu

{"title":"Robotic Surgery for Bronchial Sleeve Lobectomy: A Systematic Review and Bayesian Network Meta-Analysis.","authors":"Chen Wang, Liyan Qiao, Yiming Xu, Xuyang Li, Lingdong Qiu","doi":"10.1002/rcs.70181","DOIUrl":"10.1002/rcs.70181","url":null,"abstract":"Background: To investigate the effect of Robotic Assisted Thoracoscopic Surgery (RATS) in comparison to Video Assisted Thoracoscopic Surgery (VATS) and Open Thoracotomy (OP) in bronchial sleeve lobectomy (BSL) by Bayesian network meta-analysis.Methods: After searching Pubmed, the Cochrane Library and Embase for research, 7 papers with 776 individuals with central non-small cell lung cancer that required BSL were found. Data for analysis entailed intraoperative outcomes, complications, and long-term survival.Results: The RATS group exhibited a shorter operation time, diminished intraoperative blood loss, and reduced postoperative drainage time without an elevation in the frequency of postoperative complications; in Additionally, the RATS group demonstrated an equivalent postoperative long-term survival rate when juxtaposed with the VATS and OP groups.Conclusions: Compared with VATS and OP in BSL, RATS has a better intraoperative application effect, less surgical impact and the same long-term survival rate. RATS has emerged as a viable and potentially favoured surgical approach for BSL.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70181"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147950403","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

Robotic-Assisted Bile Duct Cannulation During Endoscopic Retrograde Cholangiopancreatography: A Randomised Controlled Crossover Animal Study. 内镜逆行胆管造影术中机器人辅助胆管插管：一项随机对照交叉动物研究。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70174

Bin Yan, Yongming Yang, Lihua Peng, Yuhang Zhang, Zhifeng Zhao, Mengyuan Liu, Xiuli Zhang, Gang Sun, Zikai Wang, Fei Pan, Peng Wang, Yaning Li, Shenglin Zhang, Miao Liu, Xiaomei Zhang, Jingshuang Yan, Hao Liu, Yunsheng Yang

{"title":"Robotic-Assisted Bile Duct Cannulation During Endoscopic Retrograde Cholangiopancreatography: A Randomised Controlled Crossover Animal Study.","authors":"Bin Yan, Yongming Yang, Lihua Peng, Yuhang Zhang, Zhifeng Zhao, Mengyuan Liu, Xiuli Zhang, Gang Sun, Zikai Wang, Fei Pan, Peng Wang, Yaning Li, Shenglin Zhang, Miao Liu, Xiaomei Zhang, Jingshuang Yan, Hao Liu, Yunsheng Yang","doi":"10.1002/rcs.70174","DOIUrl":"10.1002/rcs.70174","url":null,"abstract":"Introduction: Endoscopic retrograde cholangiopancreatography (ERCP) is technically challenging, with high operator radiation exposure, physical strain, and a steep learning curve, necessitating a robotic solution. This study evaluated robotic-assisted ERCP feasibility and efficacy in an animal model.Methods: In this randomised controlled crossover study, three experienced endoscopists performed 24 ERCP procedures (12 robotic-assisted vs. 12 manual) on four beagles using the YunSRobot system. Primary outcomes included papilla positioning maintenance, cannulation time, and success rate.Results: Robotic-assisted ERCP demonstrated superior papilla positioning (95.74% vs. 77.25%, p < 0.01), indicating more endoscopic stability during cannulation. The successful cannulation rate was identical in both groups (83.3%). The robotic group required fewer attempts (2.0 vs. 3.5) and experienced no scope dislocations (0 vs. 5). No severe adverse events occurred in either group.Conclusions: Robotic-assisted ERCP is feasible, safe, and effective, offering significantly improved endoscopic stability with comparable cannulation success to manual techniques.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70174"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13184807/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147977872","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

FPGA-Based Low-Latency Semantic Feedback System for Real-Time Instrument Localization in Telesurgery. 基于fpga的远程外科仪器实时定位低延迟语义反馈系统。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70180

Zhikang Ma, Xinan Sun, Bo Yi, Jiale Wang, Fengpu Zhang, Shuxin Wang, Lizhi Pan, Jianchang Zhao, Jinhua Li

{"title":"FPGA-Based Low-Latency Semantic Feedback System for Real-Time Instrument Localization in Telesurgery.","authors":"Zhikang Ma, Xinan Sun, Bo Yi, Jiale Wang, Fengpu Zhang, Shuxin Wang, Lizhi Pan, Jianchang Zhao, Jinhua Li","doi":"10.1002/rcs.70180","DOIUrl":"10.1002/rcs.70180","url":null,"abstract":"Background: Telesurgery is limited by visual latency, compromising master-slave synchronization and safety. This study proposes a real-time semantic feedback framework that reduces latency while maintaining millimetre-level localization accuracy.Methods: We developed a low-latency semantic feedback system for real-time instrument localization using a custom visual marker and FPGA-based extraction. The system was evaluated through phantom experiments, accuracy benchmarking against the NDI system, latency measurement, and task-based evaluation under delayed visual feedback conditions.Results: The system achieved a 99.2% marker extraction success rate, with a maximum mean error of 0.68 <math> <semantics><mrow><mo>±</mo></mrow> <annotation>$pm $</annotation></semantics> </math> 0.72 mm and an end-to-end latency of 31.2 <math> <semantics><mrow><mo>±</mo></mrow> <annotation>$pm $</annotation></semantics> </math> 1.4 ms. Task-based evaluation further showed significantly reduced task completion time under delayed visual feedback.Conclusions: The proposed system provides robust, precise, and low-latency semantic feedback and demonstrates potential to mitigate the impact of visual latency on surgical performance, supporting its application in future telesurgical systems pending further in vivo validation.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70180"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147977831","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

Initial Experience With the da Vinci Single-Port System in Paediatric Abdominal Surgery: A Bicentric Retrospective Observational Study. 达芬奇单端口系统在儿科腹部手术中的初步经验：一项双中心回顾性观察研究。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-06-01 DOI: 10.1002/rcs.70184

Hee-Beom Yang, Eunyoung Jung

{"title":"Initial Experience With the da Vinci Single-Port System in Paediatric Abdominal Surgery: A Bicentric Retrospective Observational Study.","authors":"Hee-Beom Yang, Eunyoung Jung","doi":"10.1002/rcs.70184","DOIUrl":"10.1002/rcs.70184","url":null,"abstract":"Background: Single-port (SP) robotic surgery is uncommon in paediatric abdominal pathologies. We report early experiences with SP robotic general surgery in children.Methods: We retrospectively analysed children undergoing SP robotic procedures between August 2023 and September 2025 at two tertiary centres in South Korea. Surgeries were performed with the da Vinci SP system.Results: Twenty-one patients (median 4.2 years, 47.6% male) were included, choledochal cyst excision (n = 7) with cholecystectomy, Kasai portoenterostomy, splenectomy, and hiatal hernia repair (n = 2 each). Single cases included anorectoplasty, redo-fundoplication, retroperitoneal teratoma excision, abdominal lymphatic malformation, and Swenson pull-through. The median operative time was 315 min; blood loss, 10 mL; median time to oral intake, 2 (1-6) days; and hospital stay, 6 (1-16) days. One conversion occurred. Six experienced complications (two grade ≥ IIIa; mortality, 0%). The median follow-up was 335 (8-587) days.Conclusions: SP robotic surgery appears feasible and safe in selected children but requires multicenter evaluation.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 3","pages":"e70184"},"PeriodicalIF":0.0,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147950259","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

Robotic Spleen-Preserving Distal Pancreatectomy: Perioperative Outcomes and Comparison of Two Energy Devices. 机器人保脾远端胰腺切除术：两种能量装置的围手术期疗效及比较。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-04-01 DOI: 10.1002/rcs.70170

Yusheng Du, Ji Wang, Li Liu, Hongqin Ma, Ying Li, Wenxing Zhao

{"title":"Robotic Spleen-Preserving Distal Pancreatectomy: Perioperative Outcomes and Comparison of Two Energy Devices.","authors":"Yusheng Du, Ji Wang, Li Liu, Hongqin Ma, Ying Li, Wenxing Zhao","doi":"10.1002/rcs.70170","DOIUrl":"10.1002/rcs.70170","url":null,"abstract":"Background: We evaluated the perioperative outcomes of robotic spleen-preserving distal pancreatectomy (RSPDP) and compared articulated monopolar curved scissors (R-MCS) with the harmonic scalpel (R-HS) as the primary energy device.Methods: We retrospectively reviewed consecutive single-centre RSPDPs (September 2020-August 2025) and compared baseline characteristics, intraoperative variables, and postoperative outcomes.Results: Sixty-nine patients were included (R-MCS, n = 31; R-HS, n = 38). Overall spleen preservation was 79.7%, with no between-group difference (80.6% vs. 78.9%, p = 0.852). Among spleen-preserved cases, Kimura completion was higher with R-MCS (88.0% vs. 66.7%, p = 0.032). Operative time and blood loss were comparable. Time to first flatus was shorter with R-MCS (3.2 ± 0.9 vs. 3.7 ± 0.7 days, p = 0.014). Overall complications occurred in 18.8%, including clinically relevant postoperative pancreatic fistula in 11.6%; no Clavien-Dindo grade ≥ IIIb complications or perioperative mortality occurred.Conclusion: RSPDP is safe and feasible. R-MCS may improve Kimura completion and modestly shorten the time to first flatus, pending further validation.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 2","pages":"e70170"},"PeriodicalIF":0.0,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147791260","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

A Cable-Driven Wearable Robot Design for Multi-Needle Positioning and Manipulation. 一种缆索驱动的可穿戴式多针定位与操作机器人设计。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2026-04-01 DOI: 10.1002/rcs.70171

Zhen Wang, Renjie Lu, Fan Wei, Shilun Du, Mengruo Shen, Yong Lei

{"title":"A Cable-Driven Wearable Robot Design for Multi-Needle Positioning and Manipulation.","authors":"Zhen Wang, Renjie Lu, Fan Wei, Shilun Du, Mengruo Shen, Yong Lei","doi":"10.1002/rcs.70171","DOIUrl":"10.1002/rcs.70171","url":null,"abstract":"Background: Multi-needle puncture is essential for clinical procedures such as multi-target biopsy. However, existing robotic systems face the challenge of providing simultaneous 6-DoF multi-needle control while maintaining CT/MRI compatibility.Methods: This paper presents a cable-driven wearable robot for the manipulation of multiple needles, which integrates a 4-DoF parallel module for needle positioning, a miniaturized 2-DoF puncture module for individual steering, and a dual-stiffness mounting module for rapid and stable installation. A hybrid cable-driven transmission combined with non-metallic materials ensures CT/MRI compatibility. A prototype was developed for the dual-needle case, and kinematic models were established for accurate closed-loop control.Results: The prototype demonstrated a static positioning accuracy below 0.5 mm, a maximum puncture force of 10.2 N, and a torque of 2.5 N <math> <semantics><mrow><mo>⋅</mo></mrow> <annotation>$cdot $</annotation></semantics> </math> mm.Conclusion: The proposed design is validated by a prototype capable of accurate multi-needle positioning and manipulation while maintaining full MRI/CT compatibility.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"22 2","pages":"e70171"},"PeriodicalIF":0.0,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147731030","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