Chen, Hsueh-Yu (National Taiwan University), Chung, Hsiao-Wen (National Taiwan University), Wu, Chih-Horng (National Taiwan University Hospital), Lee, Yu-Hsiu (National Taiwan University)

An MRI Compatible Robotics System for Abdominal Intervention

Scheduled for presentation during the Regular Session "Surgical Robots" (WeAT4), Wednesday, July 16, 2025, 10:20−10:40, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

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.