Ultrasonic motor-induced geometric distortions in magnetic resonance images

Ultrasonic motors (USMs) are common actuators that can be safely used in the magnetic resonance imaging (MRI) environment. However, lack of MRI compatibility results in issues such as image distortion. This fact led researchers to shift focus from USMs to pneumatic and hydraulic actuators in development of surgical robots. The aim is to quantify and compensate the geometric distortion of MR images as generated by the presence of USMs. An ultrasonic motor was positioned in three orientations with respect to the bore axis. The induced distortions were compared across four image sequences. To reduce the distortions, three artifact reduction methods were employed. Geometric distortion is the only artifact in image slices farther from the motor. The various motor orientations lead to different distortions, with the lowest distortion for the z orientation. The maximum measured distortion of ten pixels occurred. This maximal distortion is equal to a 1-cm displacement of the displayed points relative to their actual locations and it is beyond the acceptable level for medical display standards. Bandwidth reduction reduced the distortion, with a 50% reduction for a doubled bandwidth. In conclusion, USMs can be preferred alternative because accurate targeting of pathologies can occur in free distorted images.