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Abstract #0205

A Closed-Loop MRI-Powered Actuator for Robotic Interventions

SUMMA25Lei Qin1, Panagiotis Vartholomeos2, Pierre Dupont2

1Dana-Farber Cancer Institute, Boston, MA, United States; 2Children's Hospital Boston, Boston, MA, United States

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.

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Keywords

accuracy accurately acting actuation actuator applied around assisted axis bandwidth becoming biopsies body cancer cavity clinical closed coil community compatible components comprised computer consists constructed control controlled convert coordinate cycles defined desired detected developed displacement distance drives electromagnetic embedded enclosed encoded encoding energy equates error excitation experiment external ferromagnetic five frequency fulfill gradient gradients guided heart important improve inch included increasingly inhomogeneities institute interleaved interventions lesions lever linearity local location loop marker material matrix mechanical medical motion mounted moved necessary needle novel object offer offers offset open operation paper peak performance portion position potential power powered precision preset procedure procedures processed profile proposed prototype providing puncturing rack readout readouts real receive recently relatively remote requirement robotic robots rotates rotating rotation rotor scanner schematic serves sinusoidal soft speed spots stator stopped subsequent successfully superior surface swine synergy system systems target technology terminate terminates therapies tissue together track tracking transmission turn whose wright