What question did this study set out to answer?

The aim is to design a robot for MRI-guided brain puncture that enhances accuracy and safety during neurosurgical procedures.

May 15, 2026

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

Key Points

The aim is to design a robot for MRI-guided brain puncture that enhances accuracy and safety during neurosurgical procedures.
Constructed from non-magnetic materials like PEEK and ceramics
Driven by ultrasonic piezoelectric actuators
Utilized a composite swing-arc RCM design for dynamic adjustment
End-effector absolute error measured at 2.16 mm
Repeatability achieved at ± 1.02 mm
Mean RCM deviation noted as 0.57 mm

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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Cite This Study

Li et al. (Wed,) studied this question.

synapsesocial.com/papers/6a06b9e2e7dec685947ac8fd https://doi.org/https://doi.org/10.1002/rcs.70175

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