Actuator of MRI Compatible Modular designed navigation robot for needle screw insertion

摘要

Interventional MRI therapy has started in these years, and surgical robots operated under the MRI environment are focused by many researchers to achieve most effective image guided therapy. In this paper, the MRI compatible modular designed navigation robot for needle screw insertion is proposed, and the linear actuator, which is the basic element, was described. It comprises a feed screw, aluminum parts and ultrasound motor, that are all non-ferromagnetic characteristics. Influences of the robot to MR image (image distortion and S/N ratio of the image) are reported.