Numerical simulations and lab tests for design of MR-compatible robots

Abstract

A numerical simulation of the magnetic field in the imaging volume of a magnetic resonance imaging (MRI) scanner and a method for quick searches for electromagnetic noise source are proposed as part of the design and development process for surgical robots that are compatible with MRI. Although MR compatibility is a major challenge for development of such robots, no simulation method was known that could predict it. This paper demonstrates the potential of two basic techniques that are useful in predicting the magnetic and electromagnetic compatibility. First, the distortion of the magnetic field caused by the robot can be computed by a finite element method. Simulation of the resonance signal distribution showed good agreement with experimentally obtained signal distributions. Second, a noise source and its strength can be visualized by a spectrum analyzer