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arXiv · 2608.06354

A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber

Omar Curiel·Jing-Yuan Huang·Po-Chih Chen·Ji Ma·Qing Dai·Wenqi Zhou·David Lu·Holden H. Wu·Tsu-Chin Tsao
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Abstract

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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Omar Curiel, Jing-Yuan Huang, Po-Chih Chen, Ji Ma, Qing Dai, Wenqi Zhou, David Lu, Holden H. Wu, Tsu-Chin Tsao. 2026-08-07. A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber. https://arxiv.org/abs/2608.06354

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