The case for MR‐compatible robotics: a review of the state of the art

Abstract

A brief overview of the current state of the art is given, along with a description of the main opportunities, possibilities and challenges that the future will bring to this exciting and promising field.

A novel MRI compatible soft tissue indentor and fibre Bragg grating force sensor

“…Part (7) of the force sensor assembly is fixed to the piston shaft via the screw (8). The FBG sensor fibre (9) enters the piston head at site (A) where it is supported using a bolt (10). The fibre reference and strain gratings (8 mm long each and 18 mm apart) are located at sites (B) and (C) respectively.…”

“…Applications include: MRI robotics (e.g. [10,11]), MRI guided surgical interventions (e.g. [12][13][14]), MRI based catheterisation (e.g.…”

Needle-Guiding Robot for Laser Ablation of Liver Tumors Under MRI Guidance

“…The main technical challenges in the robot development are preserving the quality of the MR images and achieving accurate positioning. The MRI environment limits the actuation methods allowed for robotic devices; therefore, manual actuation, ultrasonic motors, pneumatic and hydraulic cylinders represent the most common choices [9]. Ultrasonic motors have been widely employed in medical robots since they produce high torques and are not back-drivable.…”

A simple 5-DoF MR-compatible motion signal measurement system

“…Manufacturers provide an additional difficulty when designing a system for use inside MRI scanners. Since technical solutions for MR-compatible mechatronics and systems are not only complex, large in size, and expensive, but also have small degrees of freedom (DoFs), only a limited number of groups have used this kind of system (Elhawary et al, 2008). Therefore, it is necessary to develop an MR-compatible motion measurement system that can measure various types of kinematic variables, is appropriate for general purposes, and has a simple structure.…”