A Closed-Loop MRI-Powered Actuator for Robotic Interventions

Lei Qin¹, Panagiotis Vartholomeos², Pierre Dupont²

This paper presents a novel closed-loop controlled actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The principle of operation is based on one or more small ferromagnetic bodies embedded in the actuator that serves to convert the electromagnetic energy of the MR gradients into mechanical energy. A MR tracking sequence is performed to track the position of the needle in real-time for closed-loop control. A prototype was constructed, which showed accurate control of the needle.