MRI compatibility of robot actuation techniques--a comparative study.

Gregory S. Fischer, Axel Krieger, Iulian Iordachita, Csaba Csoma, Louis L. Whitcomb, Fichtinger Gabor

Research output: Chapter in Book/Report/Conference proceedingChapter

69 Scopus citations


This paper reports an experimental evaluation of the following three different MRI-compatible actuators: a Shinsei ultrasonic motor a Nanomotion ultrasonic motor and a pneumatic cylinder actuator. We report the results of a study comparing the effect of these actuators on the signal to noise ratio (SNR) of MRJ images under a variety of experimental conditions. Evaluation was performed with the controller inside and outside the scanner room and with both 1.5T and 3T MRI scanners. Pneumatic cylinders function with no loss of SNR with controller both inside and outside of the scanner room. The Nanomotion motor performs with moderate loss of SNR when moving during imaging. The Shinsei is unsuitable for motion during imaging. All may be used when motion is appropriately interleaved with imaging cycles.

Original languageEnglish (US)
Title of host publicationMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Number of pages9
EditionPt 2
StatePublished - 2008

ASJC Scopus subject areas

  • Medicine(all)


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