MRI-compatible electromagnetic servomotors for image-guided robotic procedures

TL;DR

This paper introduces a novel MRI-compatible electromagnetic servomotor made from non-magnetic components, enabling precise robotic control within MRI scanners for improved image-guided procedures.

Contribution

The authors present the first fully functional electromagnetic servomotor suitable for operation within a 3 Tesla MRI scanner, enhancing MRI-guided robotic surgical capabilities.

Findings

Demonstrated high-torque, precise control during MRI imaging

Achieved manipulation of large surgical instruments during imaging

Validated safety and functionality within clinical MRI environment

Abstract

Combining the unmatched soft-tissue imaging capabilities of magnetic resonance imaging (MRI) with high precision robotics has the potential to improve the accuracy, precision, and safety of a wide range of image-guided medical procedures. However, the goal of highly functional MRI-compatible robotic systems has not yet been realized because conventional electromagnetic servomotors used by medical robots can become dangerous projectiles near the strong magnetic field of an MRI scanner. Here we report a novel electromagnetic servomotor design that is constructed from non-magnetic components and can operate within the patient area of clinical scanners. We show that this design enables high-torque and precisely controlled rotary actuation during imaging. Using this servomotor design, an MRI-compatible robot was constructed and tested. The robot demonstrated that the linear forces required to manipulate large diameter surgical instruments in tissues could be achieved during simultaneous imaging with MRI. This work presents the first fully functional electromagnetic servomotor that can be safely operated (while imaging) in the patient area of a 3 Tesla clinical MRI scanner.