Article... International Symposium on Medical Robotics. International Symposium on Medical Robotics2026
Towards Robot-Assisted MRI-Guided Lumbar Injections.
Article in ... International Symposium on Medical Robotics. International Symposium on Medical Robotics, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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5 authors.
Funding
Abstract
Lumbar epidural injection requires precise needle placement to ensure efficient drug delivery into the epidural space. MRI-compatible robotic systems offer unique advantages for this procedure by combining the advantages of intraoperative MRI guidance with the precision and dexterity of robotic assistance. This paper presents a 4-degree-of-freedom (DOF) MRI-compatible robotic system designed to assist surgeons in performing lumbar injections with improved accuracy and consistency. The proposed system features a modular architecture comprising an actuation unit, a two-layer linkage mechanism, and a needle placer. The kinematics of the system were derived, and a control framework incorporating backlash compensation was implemented. A workspace analysis was conducted, with the effective workspace found to be ±72.9 mm (medial-lateral) and ±32.5 mm (superior-inferior), and a tilting range exceeding 25°. As a proof of concept, the prototype was experimentally evaluated to validate its mechanical performance. The results demonstrated sub-millimeter precision with an average deviation from a mean location of 0.33 mm, confirming the feasibility of accurate and repeatable needle guidance, and marking a step toward clinical translation of robot-assisted MRI-guided lumbar injection procedures.
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Registered trials
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