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MR-Conditional Actuations: A Review

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Abstract

Magnetic resonance imaging (MRI) is one of the most prevailing technologies to enable noninvasive and radiation-free soft tissue imaging. Operating a robotic device under MRI guidance is an active research area that has the potential to provide efficient and precise surgical therapies. MR-conditional actuators that can safely drive these robotic devices without causing safety hazards or adversely affecting the image quality are crucial for the development of MR-guided robotic devices. This paper aims to summarize recent advances in actuation methods for MR-guided robots and each MR-conditional actuator was reviewed based on its working principles, construction materials, the noteworthy features, and corresponding robotic application systems, if any. Primary characteristics, such as torque, force, accuracy, and signal-to-noise ratio (SNR) variation due to the variance of the actuator, are also covered. This paper concludes with a perspective on the current development and future of MR-conditional actuators.

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Acknowledgments

This work is funded by Arkansas Biosciences Institute grant and NIH R01EB025179 and R01EB020003 grants. The authors would like to thank Kashu Yamazaki and Brandon Robertson for assistance searching and screening papers for review.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA

    Qingyu Xiao, Mishek Musa & Yue Chen

  2. Children’s National Medical Center, Washington, DC, USA

    Reza Monfaredi & Kevin Cleary

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Xiao, Q., Monfaredi, R., Musa, M. et al. MR-Conditional Actuations: A Review. Ann Biomed Eng 48, 2707–2733 (2020). https://doi.org/10.1007/s10439-020-02597-8

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