MRI室用主从机器人实现精准穿刺操作，支持多模式协同控制。
A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
- 主控端通过流体传输驱动从动机械臂，实现力与运动同步传递。
- 在猪体内实验中验证了床旁手动模式下设备的可行性，定位精度达毫米级。
- 支持手动、数字、混合及协作控制，适用于穿刺辅助与故障防护场景。
我们提出一种用于磁共振成像（MRI）室腹部介入手术的磁兼容主-从机器人系统。由人工操作的2+1自由度主控机械臂通过流体传输将运动和力传递给2+1自由度从动机械臂。结合数字主控装置，实现超越传统分轴或模式切换型人机协同控制器的多模态控制能力。高输入阻抗、低泄漏的弹性流体致动器用于远程角度调节；低摩擦石墨活塞缸用于针插入轴远程驱动，可在床边流体管路长度下实现亚牛顿级力透明性和亚毫米级运动传输。该装置支持实时MRI引导下的干预，具备手动、数字、混合及协作控制模式。本文展示了辅助组织穿刺、基于故障的虚拟夹具及反馈控制下的运动补偿等协作任务。初步的MRI扫描结果显示，在床旁手动控制模式下，该设备已具备用于活体猪实验的功能可行性。
原文摘要 · Abstract (English)
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.
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