MRI-Powered Robotics

Magnetic Resonance (MR) scanners provide high-resolution imaging of soft tissue. An unexploited capability of these systems is that they can also wirelessly power, track, and control robots placed inside their bore. Such robots can be fabricated from inexpensive materials and their control can be accomplished entirely through scanner programming. This technology may enable new MR-guided interventions as well as facilitate current procedures. This paper reviews recent developments in MRI-powered robots, and investigates three case studies: (1) high-speed control of an actuator rotor, (2) independent, simultaneous control of n rotors, and (3) MRI-based navigation and propulsion of millirobots that self-assemble into a tool for penetrating tissue. These approaches are illustrated through analytical modeling and experiments in a clinical MRI scanner.