title: MRI compatibility of robot actuation techniques--a comparative study.
abstract: This paper reports an experimental evaluation of the following three different MRI-compatible actuators: a Shinsei ultrasonic motor a Nanomotion ultrasonic motor and a pneumatic cylinder actuator. We report the results of a study comparing the effect of these actuators on the signal to noise ratio (SNR) of MRJ images under a variety of experimental conditions. Evaluation was performed with the controller inside and outside the scanner room and with both 1.5T and 3T MRI scanners. Pneumatic cylinders function with no loss of SNR with controller both inside and outside of the scanner room. The Nanomotion motor performs with moderate loss of SNR when moving during imaging. The Shinsei is unsuitable for motion during imaging. All may be used when motion is appropriately interleaved with imaging cycles.
authors.affiliation: Center for Computer Integrated Surgery, Johns Hopkins University, USA. gfischer@jhu.edu
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
authors.forename: Axel
authors.initials: A
authors.lastname: Krieger
authors.forename: Iulian
authors.initials: I
authors.lastname: Iordachita
authors.forename: Csaba
authors.initials: C
authors.lastname: Csoma
authors.forename: Louis L
authors.initials: LL
authors.lastname: Whitcomb
authors.forename: Fichtinger
authors.initials: F
authors.lastname: Gabor
mesh_terms: D016477:Artifacts; D004867:Equipment Design; D019544:Equipment Failure Analysis; D007089:Image Enhancement / Q000379:methods; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D053783:Magnetic Resonance Imaging, Interventional / Q000295:instrumentation* / Q000379:methods; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods