An MRI Compatible Robotics System for Abdominal Intervention
Journal
IFAC-PapersOnLine
Journal Volume
59
Journal Issue
18
Start Page
43
End Page
48
ISSN
24058971
Date Issued
2025-07-01
Author(s)
Abstract
Minimally invasive abdominal interventions often require precise needle placement, a challenge magnified by the confined space and magnetic constraints of magnetic resonance imaging (MRI) environments. This study presents an MRI-compatible robotic system featuring a decoupled parallelogram-based Remote Center of Motion (RCM) mechanism for accurate needle angulation and compact design. A pneumatically actuated needle insertion module employing inchworm motion addresses stroke limitations, while a compliant gripper ensures secure and flexible needle manipulation. These innovations enhance procedural accuracy and efficiency, with preliminary results demonstrating the robot's potential for MRI-guided abdominal interventions.
Event(s)
14th IFAC Symposium on Robotics, ROBOTICS 2025, held jointly with the 10th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2025, Paris, 15 July 2025 - 18 July 2025
Subjects
abdominal intervention
mechanism design
minimally invasive surgery
MR-conditional robot
Publisher
Elsevier B.V.
Type
conference paper