Abstract #3588

Real-time MRI-guided interventions using rolling-diaphragm hydrostatic actuators

Samantha Mikaiel^1,2, James Simonelli³, David Lu¹, Kyung Sung^1,2, Tsu-Chin Tsao³, and Holden H Wu^1,2

¹Radiological Sciences, University of California, Los Angeles, Los Angeles, CA, United States, ²Biomedical Physics, University of California, Los Angeles, Los Angeles, CA, United States, ³Mechanical and Aerospace Engineering, University of California, Los Angeles, Los Angeles, CA, United States

In this work we investigate a new rolling-diaphragm-based hydrostatic actuator design to achieve smooth remote manipulation without fluid leakage for MR-compatible robotic systems. We show that the actuators exhibit negligible impact on MR image fidelity and SNR, the actuator provides a linear displacement response over the fluid lines, and we were able to use the master/slave actuator pair to insert and retract the needle in a phantom with no leakage and no noticeable friction issues. Our new rolling-diaphragm hydrostatic actuators can potentially enable physicians to remotely perform real-time MRI-guided interventions.

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