Huang Shaoping, He Zhao, Chen Yi, Chen Jiafan, Hong Shijie, Zhang Yi, Xu Longyu, Pan Yixin, Ma Shuo, Xuan Lian, Meng Qingdang, Yang Yong, Xu Yangyang, Lin Zecai, Lou Chuqian, Zhou Cheng, Chen Weidong, Sun Bomin, Sun Qingfang, Feng Yuan, Gao Anzhu, Yang Guang-Zhong
Shanghai Key Laboratory of Flexible Medical Robotics, Tongren Hospital, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200336, China.
Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200030, China.
Sci Adv. 2025 Sep 5;11(36):eady3624. doi: 10.1126/sciadv.ady3624. Epub 2025 Sep 3.
Stereotactic neurointervention is a common procedure for biopsy, injection, ablation, and implantation of electrodes for deep brain stimulation. Guided by preoperative imaging, conventional approaches are mostly performed manually, lacking operation stability and interactive feedback. The intraoperative magnetic resonance imaging (MRI) guidance enables both structural and functional assessment during operation, permitting interactive adaptation to tissue deformation and avoidance of critical anatomical regions. Here, we report an MRI-guided robotic system for stereotactic neurointervention. A macro-micro hybrid pneumatic-hydraulic actuated stereotactic robot with a large range of motion and high precision is developed. This is coupled with a compact bioinspired soft actuator for target intervention. A global-focal MRI sequence is proposed for interactive navigation, closed-loop control, and precise targeting. Validation is performed with phantom, cadaveric, and in vivo animal studies, showing positional accuracies of 0.39, 0.68, and 0.14 millimeters, respectively, demonstrating superior performance compared to the current state of the art in robotic-assisted stereotactic neurointervention.
立体定向神经介入是一种常用于活检、注射、消融以及植入深部脑刺激电极的手术。在术前成像的引导下，传统方法大多通过手动操作，缺乏操作稳定性和交互式反馈。术中磁共振成像（MRI）引导能够在手术过程中进行结构和功能评估，允许根据组织变形进行交互式调整并避开关键解剖区域。在此，我们报告一种用于立体定向神经介入的MRI引导机器人系统。开发了一种具有大范围运动和高精度的宏微混合气动液压驱动立体定向机器人。它与一个用于目标干预的紧凑型仿生软致动器相结合。提出了一种全局-局部MRI序列用于交互式导航、闭环控制和精确靶向。通过体模、尸体和体内动物研究进行了验证，分别显示出0.39、0.68和0.14毫米的定位精度，表明与机器人辅助立体定向神经介入的当前技术水平相比具有卓越性能。
