title: MRI-powered Actuators for Robotic Interventions.
abstract: This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability of the approach for needle biopsies. The concepts of actuator locking mechanisms and multi-axis control are also introduced.
authors.affiliation: Cardiac Surgery, Children's Hospital Boston, Harvard Medical School, Boston, MA 02115 USA.
authors.forename: Panagiotis
authors.initials: P
authors.lastname: Vartholomeos
authors.forename: Lei
authors.initials: L
authors.lastname: Qin
authors.forename: Pierre E
authors.initials: PE
authors.lastname: Dupont