Review on MR-Compatible Robotic Systems

Abstract

Magnetic Resonance Imaging (MRI) and its functional applications (fMRI) play increasing roles in diagnostic and basic neuroscience. In contrast to the high demand for MR-compatible devices and robotic systems in both academic and practical fields, MR-compatibility has been a tough hurdle for developers. Since traditional electromagnetic components interact with the high magnetic field and become useless, researchers are working on MR-compatible actuation and sensor technologies, such as pneumatic actuators, hydraulic actuators, ultrasonic motors, optical sensors for position, force and torque detection, etc. This paper gives an overview of the MR environment, MR-compatibility, existing approaches to MR-compatible devices and robots, and applications of MR-compatible systems