IGI robots assist in manipulating the instrument or provide guidance for image-navigation.
Thus, the development of MRI robots is a very challenging engineering task because MRI scanners use magnetic fields of very high density (3 teslas is now common), and most of the components commonly used in robotics may not be used in close proximity of the magnet.
[1] In addition to the robot itself, there must be a way to track the position, orientation and force being applied to the instrument.
Some metals that have been shown to not produce artifacts on MR images include titanium and brass.
Initially the patient must be imaged in order to decide the best location to begin the procedure.
This process of moving and scanning continues until the correct location and alignment of instruments is obtained.
Making real-time changes in path would be helpful in correcting needle bending.
[4] By not moving the patient, potential sources of needle bending and need for image registration would be minimized.
Hydraulic transmission lines can leak and potentially ruin sensitive equipment.
Additionally, the length of transmission lines would make setup and removal of MRI robots time consuming.
When using fMRI, an MRI robot would be used to help mimic everyday tasks such as shoulder and elbow movement.
The URobotics research group at Johns Hopkins University has developed an electricity-free, non-magnetic, and dielectric robot known as MrBot.
This achievement was possible through the invention of a new type of pneumatic motor, the PneuStep, which allows for simple, fail-safe precision controlled motion.
The group has also developed various types of fully MRI-compatible robots for percutaneous prostate interventions and another one for guiding deep brain stimulation (DBS) electrode placement under real-time MR image guidance for the treatment of Parkinson's Disease.