Design of MR-compatible robotic devices: magnetic and geometric compatibility aspects

Specially designed robotic manipulators have been proposed for the performance of minimally invasive interventions under real time magnetic resonance imaging (MRI) guidance. The design of MR-compatible robotic systems is a challenging task given the limitations imposed by the magnetic nature of the scanning environment but also the geometry of a high field cylindrical scanner. These issues are discussed with special emphasis on geometric MR-compatibility. Acquired MR images are used for the analysis of the available space inside the scanner in order to provide the necessary input for the design of interventional devices.