An MRI-powered and controlled actuator technology for tetherless robotic interventions

摘要

This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. In the proposed approach, the MRI scanner is used to deliver power, estimate actuator state and perform closed-loop control. The actuators themselves are compact, inexpensive and wireless. Using needle driving as an example application, actuation principles and force production capabilities are examined. Actuator stability and performance are analyzed for the two cases of state estimation at the input versus the output of the actuator transmission. Closed-loop needle position control is achieved by interleaving imaging pulse sequences to estimate needle position (transmission output estimation) and propulsion pulse sequences to drive the actuator. A prototype needle driving robot is used to validate the proposed approach in a clinical MRI scanner.