title: A low-cost, high-field-strength magnetic resonance imaging-compatible actuator.
abstract: To perform minimally invasive surgical interventions with the aid of robotic systems within a magnetic resonance imaging scanner offers significant advantages compared to conventional surgery. However, despite the numerous exciting potential applications of this technology, the introduction of magnetic resonance imaging-compatible robotics has been hampered by safety, reliability and cost concerns: the robots should not be attracted by the strong magnetic field of the scanner and should operate reliably in the field without causing distortion to the scan data. Development of non-conventional sensors and/or actuators is thus required to meet these strict operational and safety requirements. These demands commonly result in expensive actuators, which mean that cost effectiveness remains a major challenge for such robotic systems. This work presents a low-cost, high-field-strength magnetic resonance imaging-compatible actuator: a pneumatic stepper motor which is controllable in open loop or closed loop, along with a rotary encoder, both fully manufactured in plastic, which are shown to perform reliably via a set of in vitro trials while generating negligible artifacts when imaged within a standard clinical scanner.
authors.affiliation: The Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, UK.
authors.forename: Riccardo
authors.initials: R
authors.lastname: Secoli
authors.affiliation: The Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, UK.
authors.forename: Matthew
authors.initials: M
authors.lastname: Robinson
authors.affiliation: The Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, UK.
authors.forename: Michele
authors.initials: M
authors.lastname: Brugnoli
authors.affiliation: The Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, UK f.rodriguez@imperial.ac.uk.
authors.forename: Ferdinando
authors.initials: F
authors.lastname: Rodriguez y Baena
mesh_terms: D004867:Equipment Design; D008279:Magnetic Resonance Imaging / Q000191:economics* / Q000295:instrumentation*; D019047:Phantoms, Imaging; D019415:Torque
keywords: Magnetic resonance imaging actuator; fiber optic based encoder; high-field-strength magnetic resonance imaging; pneumatic stepper motor