A low-cost, high-field-strength magnetic resonance imaging-compatible actuator

Area of Science:

• Medical Robotics
• Biomedical Engineering
• Magnetic Resonance Imaging

Background:

• Minimally invasive surgery using robotic systems in magnetic resonance imaging (MRI) scanners offers advantages over conventional methods.
• Key challenges include ensuring robot safety, reliability, and cost-effectiveness within the strong magnetic field, avoiding attraction and data distortion.

Purpose of the Study:

• To develop a low-cost, MRI-compatible actuator system for robotic surgery.
• To address the safety, reliability, and cost concerns hindering the adoption of MRI-guided robotics.

Main Methods:

• Development of a pneumatic stepper motor and a rotary encoder, both manufactured entirely from plastic.
• Open-loop and closed-loop control strategies were implemented for the actuator.
• In vitro trials were conducted to assess performance and artifact generation within a clinical MRI scanner.

Main Results:

• The plastic pneumatic stepper motor and rotary encoder demonstrated reliable performance in in vitro trials.
• The developed actuator system generated negligible artifacts within a standard clinical MRI scanner.
• The system represents a cost-effective solution for MRI-compatible robotic actuation.

Conclusions:

• A low-cost, high-field-strength MRI-compatible actuator has been successfully developed.
• This plastic-based pneumatic system meets the stringent safety and reliability requirements for robotic surgery in MRI environments.
• The findings pave the way for more accessible and advanced MRI-guided robotic interventions.