Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis

Abstract

To assist in percutaneous interventions in the lower back under magnetic resonance imaging guidance, a 4 degree-of-freedom body-mounted parallel robot is developed. The robot structure is improved comparatively to a previously developed robot, to increase the stability, enhance accuracy, and streamline the assembly and calibration process. The optimized assembly and calibration workflows are carried out, and the system accuracy is evaluated. The results demonstrate that the system positioning and angular accuracy are 2.28±1.1 mm and 1.94±1.01 degrees respectively. The results show that the new system has a promising and consistent behavior.