title: The case for MR-compatible robotics: a review of the state of the art.
abstract: BACKGROUND
  The numerous imaging capabilities of magnetic resonance imaging (MRI) coupled with its lack of ionizing radiation has made it a desirable modality for real-time guidance of interventional procedures. The combination of these abilities with the advantages granted by robotic systems to perform accurate and precise positioning of tools has driven the recent development of MR-compatible interventional and assistive devices.
  
  
  METHODS
  The challenges in this field are presented, including the selection of suitable materials, actuators and sensors in the intense magnetic fields of the MR environment.
  
  
  RESULTS
  Only a small number of developed systems have made it to the clinical level (only two have become commercial ventures), showing that the field has not yet reached maturity.
  
  
  CONCLUSIONS
  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.
authors.affiliation: Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK.
authors.forename: Haytham
authors.initials: H
authors.lastname: Elhawary
authors.forename: Zion Tsz Ho
authors.initials: ZT
authors.lastname: Tse
authors.forename: Abbi
authors.initials: A
authors.lastname: Hamed
authors.forename: Marc
authors.initials: M
authors.lastname: Rea
authors.forename: Brian L
authors.initials: BL
authors.lastname: Davies
authors.forename: Michael U
authors.initials: MU
authors.lastname: Lamperth
mesh_terms: D001698:Biomedical Engineering / Q000639:trends; D020811:Biomedical Technology / Q000639:trends; D004867:Equipment Design; D006801:Humans; D053783:Magnetic Resonance Imaging, Interventional / Q000295:instrumentation* / Q000639:trends*; D012371:Robotics / Q000295:instrumentation* / Q000639:trends*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000639:trends; D014159:Transducers / Q000639:trends