MRI誘導ロボット介入のための非磁性アクチュエータとしてのテスラタービンの可能性

原文アブストラクト

This paper introduces a new type of nonmagnetic actuator for MRI interventions. Ultrasonic and piezoelectric motors are one the most commonly used actuators in MRI applications. However, most of these actuators are only MRI-safe, which means they cannot be operated while imaging as they cause significant visual artifacts. To cope with this issue, we developed a new pneumatic rotary servo-motor (based on the Tesla turbine) that can be effectively used during continuous MR imaging. We thoroughly tested the performance and magnetic properties of our MRI-compatible actuator with several experiments, both inside and outside an MRI scanner. The reported results confirm the feasibility to use this motor for MRI-guided robotic interventions.