An MRI-Conditional Flexible Endoscopic Robot with a Hydraulic Tendon-Driven Actuation System

摘要

This paper presents the conceptualization, mathematical modeling, and experimental validation of a magnetic resonance imaging (MRI)-conditional, flexible endoscopic robot for MRI-guided neurosurgery. The robotic assembly encompasses a straight rigid shaft, a tendon-driven steerable tip with two degrees of freedom, and a compact hybrid actuation system made of nonmagnetic modules. The robot’s small diameter, approximately 3 mm, allows for robot navigation through narrow cavities, such as nasal passages and the densely packed anatomy of the skull base. By filling the robot with deionized water, the MRI contrast of the robot can be improved, therefore enabling intra-operative tracking of the robot’s movement. In this paper, we present the design and fabrication process of the robotic system, kinematic analysis of the robot, and experimental studies to validate our model, characterize the robot, and test the feedback robot control. Furthermore, we demonstrate the MRI compatibility of the robot, along with the intra-operative tracking capability.