MR-Conditional Actuations: A Review
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Annals of Biomedical Engineering ( 2020) https://doi.org/10.1007/s10439-020-02597-8
Review
MR-Conditional Actuations: A Review QINGYU XIAO,1 REZA MONFAREDI,2 MISHEK MUSA,1 KEVIN CLEARY,2 and YUE CHEN 1 1
Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA; and 2Children’s National Medical Center, Washington, DC, USA (Received 18 April 2020; accepted 14 August 2020) Associate Editor Daniel Elson oversaw the review of this article.
Abstract—Magnetic resonance imaging (MRI) is one of the most prevailing technologies to enable noninvasive and radiation-free soft tissue imaging. Operating a robotic device under MRI guidance is an active research area that has the potential to provide efficient and precise surgical therapies. MR-conditional actuators that can safely drive these robotic devices without causing safety hazards or adversely affecting the image quality are crucial for the development of MRguided robotic devices. This paper aims to summarize recent advances in actuation methods for MR-guided robots and each MR-conditional actuator was reviewed based on its working principles, construction materials, the noteworthy features, and corresponding robotic application systems, if any. Primary characteristics, such as torque, force, accuracy, and signal-to-noise ratio (SNR) variation due to the variance of the actuator, are also covered. This paper concludes with a perspective on the current development and future of MRconditional actuators. Keywords—Magnetic resonance imaging (MRI), MR-conditional, Motor, Actuation, Pneumatic, Piezoelectric, Hydraulic.
INTRODUCTION Performing surgical procedures with a robotic system could potentially benefit both patients and surgeons.65,79,80 In the field of robot-assisted interventions, magnetic resonance imaging is one of the technologies that provides radiation-free scans for acquiring high-resolution images of the internal organs and bones. Unlike X-ray imaging and computed tomography (CT), MRI does not expose patients or operators to ionizing radiation, which is particularly Address correspondence to Yue Chen, Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA. Electronic mail: [email protected]
important for those who are physically weak. Instead, MRI scanners image the water molecules in the body with a strong magnetic field. MRI is also superior to other imaging modalities when imaging soft tissues because of its imaging principles. These advantages have allowed MRI to become widely accepted in the clinical environment for diagnosis, and also for surgical guidance since it can be used to assist positional alignment of surgical instruments within the region of interest.9 It was reported in a clinical review for 200 patients that MRI provided valuable and high-quality information for intraoperative surgical strategy.59 Because of the strong magnetic field generated in the scanner bore, using of ferromagnetic materials is strongly prohibited inside the MRI room within the 5 gauss line due to safety issues and stro
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