title: Intraoperative magnetic resonance imaging-conditional robotic devices for therapy and diagnosis.
abstract: Magnetic resonance imaging presents high-resolution preoperative scans of target tissue and allows for the availability of intraoperative real-time images without the exposure of patients to ionizing radiation. This has motivated scientists and engineers to integrate medical robotics with the magnetic resonance imaging modality to allow robot-assisted, image-guided diagnosis and therapy. This article provides a review of the state-of-the-art medical robotic systems available for use in conjunction with intraoperative magnetic resonance imaging. The robot functionalities and mechanical designs for a wide range of magnetic resonance imaging interventions are presented, including their magnetic resonance imaging compatibility, actuation, kinematics and the mechanical and electrical designs of the robots. Classification and comparative study of various intraoperative magnetic resonance image guided robotic systems are provided. The robotic systems reviewed are summarized in a table in detail. Current technologies for magnetic resonance imaging-conditional robotics are reviewed and their potential future directions are sketched.
authors.affiliation: College of Engineering, The University of Georgia, Athens, GA, USA.
authors.forename: Taylor
authors.initials: T
authors.lastname: Fisher
authors.forename: Abbi
authors.initials: A
authors.lastname: Hamed
authors.forename: Panagiotis
authors.initials: P
authors.lastname: Vartholomeos
authors.forename: Ken
authors.initials: K
authors.lastname: Masamune
authors.forename: Guoyi
authors.initials: G
authors.lastname: Tang
authors.forename: Hongliang
authors.initials: H
authors.lastname: Ren
authors.forename: Zion T H
authors.initials: ZT
authors.lastname: Tse
mesh_terms: D003936:Diagnosis, Computer-Assisted / Q000295:instrumentation*; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*
keywords: Magnetic resonance imaging guided; image-guided therapy; magnetic resonance imaging–conditional; robotic design