Problem
Research questions and friction points this paper is trying to address.
MRI-compatible robotics
needle-based intervention
master-slave teleoperation
abdominal interventions
real-time MRI guidance
A Master-Salve Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
🤖 AI Summary
This study addresses the lack of real-time, precise guidance for percutaneous abdominal interventions in the strong magnetic field environment of MRI by proposing an MR-compatible master–slave robotic system. The system employs a fluidic transmission mechanism integrating a high-input-impedance elastomeric actuator and a low-friction graphite piston–cylinder assembly, achieving sub-Newton force transparency and sub-millimeter motion fidelity. A multimodal cooperative control architecture supports manual, digital, hybrid, and collaborative operation modes, incorporating virtual fixtures and motion compensation. In vivo porcine experiments demonstrated the system’s MR compatibility and clinical feasibility in bedside manual mode, successfully enabling accurate needle-based interventions under real-time MRI guidance.
📝 Abstract
We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human operated 2+1-DoF master controller manipulator transmits motion and force to a 2+1-DoF slave manipulator via fluid transmission. Jointly, a digital master controller provides multimodal control capability beyond common split axis or mode switchable hybrid human-digital controller configurations found in previous studies. High input impedance, low-leakage, elastomeric fluid actuators are delegated to remote angulation control. Low-friction graphite piston cylinders are delegated to needle insertion axis remote actuation given the sub-newton force transparency and sub-millimeter motion transmission over bedside fluid piping lengths. The device enables real-time MRI guided interventions allowing manual, digital, hybrid, and collaborative control modes. Collaborative tasks such as assisted tissue penetration, fault-driven virtual fixture, and motion compensation through feedback control are presented in this paper. Preliminary MR scanner results demonstrate manipulator functional viability for an in-vivo pig experiment in bedside, manual control mode configuration.
Innovation
Methods, ideas, or system contributions that make the work stand out.
master-slave robot
fluid transmission
MRI-compatible actuation
multimodal control
force transparency
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