An MR compatible robot technology

Abstract

Magnetically compatible robots are required to develop haptic interfaces for Neuroscience studies and MRI guided robots for minimally invasive interventions. This paper introduces an MR compatible master slave concept using a hydraulic transmission, and presents an operational robot able to work within an MRI/fMRI scanner and acquire images continuously during motion. It describes a magnetically inert actuator using a direct drive to power the hydraulic circuitry and a modular set of position and force/torque sensors that we have developed. These were integrated into a haptic interface prototype with one rotary degree of freedom, which can be used in conjunction with an fMRI. The MR compatibility was confirmed experimentally, and the performances show a manipulation accuracy of a few micrometers over a range of several centimeters, and forces up to several thousand Newton.