MRI-Compatible Robotic System Using Pneumatic Actuators

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Solution Overview

Problem

Current MRI-compatible robotic systems face challenges in precision and compatibility due to electromagnetic interference and the need for non-magnetic materials, particularly in high-field MRI environments, limiting their effectiveness in image-guided interventions like brachytherapy.

Innovation Solution

A modular robotic system using pneumatic stepper motors and non-magnetic, dielectric materials, with fiber optic components to minimize electrical interference, allowing precise and safe operation within MRI scanners for image-guided interventions, including automated needle delivery and brachytherapy seed injection.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Power

If electromagnetic motors are used for robot actuation, then precision and power are improved, but MRI compatibility deteriorates due to electromagnetic interference and magnetic field interactions

Engineering Contradiction:

Improveactuation powerVSAvoidMRI compatibility

Core Design Contradiction:

PowerVSReliability

Solution Approach 1:

The patent replaces electromagnetic motors with pneumatic actuators that use compressed gas instead of electricity to drive mechanical motion. This substitution eliminates electromagnetic interference with MRI fields while maintaining the ability to actuate robotic components with sufficient force and precision for medical interventions

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent employs pneumatic actuators that utilize compressed gas pressure to generate mechanical motion for robot actuation. The pneumatic system provides controlled movement of robotic components without using electromagnetic fields, ensuring MRI compatibility while delivering the necessary actuation power for precise medical procedures

Inventive Principle:

Principle #29Pneumatics and hydraulics

2Strength

If ferromagnetic materials are used in robot construction, then structural strength is improved, but MRI compatibility deteriorates due to magnetic field forces and heating

Engineering Contradiction:

Improvestructural strengthVSAvoidMRI compatibility

Core Design Contradiction:

StrengthVSReliability

Solution Approach 1:

The patent uses composite materials that combine non-ferromagnetic components with high strength-to-weight ratios. These composite structures provide the necessary structural strength for robot construction while being non-magnetic and resistant to heating in MRI environments, thus maintaining both mechanical integrity and MRI compatibility

Inventive Principle:

Principle #40Composite materials

3Measurement precision

If electrical components are used in the robot, then control precision is improved, but image quality deteriorates due to electromagnetic interference and signal distortions

Engineering Contradiction:

Improvecontrol precisionVSAvoidimage quality

Core Design Contradiction:

Measurement precisionVSLoss of information

Solution Approach 1:

The patent replaces electrical control components with pneumatic control systems that use pressure-regulated gas flow to control robotic actuation. This mechanical control method eliminates electromagnetic interference that would otherwise distort MRI images, while still providing sufficient control precision through pressure regulation and pneumatic valve control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces pneumatic pressure as an intermediary medium between the control system and the actuated components. Compressed gas serves as the mediator to transmit control signals mechanically rather than electrically, preventing electromagnetic interference with MRI imaging while maintaining precise control over robotic movements

Inventive Principle:

Principle #24Intermediary (Mediator)

4Reliability

If piezoelectric motors are used for MRI-compatible actuation, then MRI compatibility is improved, but precision deteriorates due to reduced control accuracy and positioning repeatability

Engineering Contradiction:

ImproveMRI compatibilityVSAvoidpositioning precision

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent employs pneumatic actuators with pressure regulation systems that provide smooth, controlled motion. The pneumatic system incorporates pressure sensors and feedback control mechanisms to maintain precise positioning accuracy, overcoming the precision limitations of piezoelectric motors while maintaining MRI compatibility through non-electrical actuation

Inventive Principle:

Principle #29Pneumatics and hydraulics

Data Source

PatentUS20230356001A1Multi-imager compatible robot for image-guided interventions and fully automated brachytherapy seed

Publication Date: 2023.11.09 JOHNS HOPKINS UNIVERSITY

AI summary

Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including Mill. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.