A Master-Salve 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 · N/A · 2026
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Summary
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 co...
Abstract Summary
Key Points
- 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 sl...
- Jointly, a digital master controller provides multimodal control capability beyond common split a...
- High input impedance, low-leakage, elastomeric fluid actuators are delegated to remote angulation...
- Low-friction graphite piston cylinders are delegated to needle insertion axis remote actuation gi...
A Master-Salve Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
|Authors: Omar Curiel, Jing-Yuan Huang, Po-Chih Chen, Ji Ma, Qing Dai, Wenqi Zhou, David Lu, Holden H. Wu, Tsu-Chin Tsao
|Venue: arXiv preprint | Year: 2026
|arXiv: 2608.06354v1
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.
Key Contributions
- 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 sl…
- Jointly, a digital master controller provides multimodal control capability beyond common split a…
- High input impedance, low-leakage, elastomeric fluid actuators are delegated to remote angulation…
- Low-friction graphite piston cylinders are delegated to needle insertion axis remote actuation gi…
Topics
- control
- learning-from-demonstration
Code & Data
No code repository linked in paper metadata.
BibTeX
@article{Curiel2026_260806354v1,
title = {A Master-Salve Robot Manipulator for Needle-Based Teleoperation in MRI Chamber},
author = {Omar Curiel and Jing-Yuan Huang and Po-Chih Chen and Ji Ma and Qing Dai and Wenqi Zhou and David Lu and Holden H. Wu and Tsu-Chin Tsao},
year = {2026},
eprint = {2608.06354v1},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2608.06354v1}
}
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