Vacuum-based and body-mounted robotic-patient interface with an integrated metasurface for MRI-guided interventions

Abstract

Listen

Translate article

Abstract The increased clinical relevance of image-guided procedures, particularly of interventional magnetic resonance imaging (iMRI), highlights the need for advanced devices and robotics to optimize those procedures. To enable a realistic integration of robotics into the clinical workflow, robotic-patient interfaces (RPI) are required to ensure both functionality and usability. However, current concepts have issues with patient accessibility and safety, user handling, or performing interventions on versatile body regions. This work presents a novel silicone-based RPI to flexibly mount the ’Micropositioning Robotics for Image-Guided Surgery’ (μRIGS) system on differently shaped body regions through vacuum, regulated with an electronic miniature pump. Maximum holding forces of 60N at −0.1 bar and 66N at −0.2 bar relative vacuum pressure were reached depending on the applied human body area and tensile force angles. MRI with the integrated metasurface indicated up to 200% signal enhancement, enabling improved tissue contrast within the first 20mm in depth. The multifunctional design supported the incorporation of the sterile iMRI workflow concept. This RPI enables a realistic integration of future technologies such as miniature robots, tracking markers, and instrument holders into complex interventional workflows. Further long-term studies are needed to evaluate the effects of vacuum application lasting for 1-2 hours on different skin types.