Table 2:

MRI robotic system for neurosurgical intervention

Year	Team	Study type	Accuracy	DOF	Actuation type	Control type	SNR	Design	Institute
2011	Lang et al. [45] [46]	Clinical study (N=35)	-	8 DOF	-	-	-	2 arms	University of Calgary
2014	Comber et al. [49]	In air	mean of 0.032 mm and 0.447 deg	5 DOF	Pneumatic	-	0.7 % drop	-	Vanderbilt University
2015	Li et al. [43] [30]	Phantom	Tip pose: 1.38 ± 0.45 mm; Insertion angle 2.03 ± 0.58°	5 DOF	PiezoLegs motors	-	Less than 15% SNR reduction	Kinematically equivalent to the commonly used Leksell stereotactic frame	Worcester Polytechnic Institute
2015	Ho et al. [48] [103]	Phantom	RMS 0.21°	4 DOF	Shape memory alloy (SMA)	Image feedback control	SNR dropped by 0.7% during actuation Or dropped by about 10% [Ho et al 2012]	Finger link robot	University of Maryland
2017	Kim et al. [47]	Phanto	-	6 DOF	Shape memory alloy (SMA)	-	6.4% SNR drop During actuation	Finger link robot	University of Maryland
2017	Chen et al. [50]	Phantom	Mean 0.47 mm	-	Pneumatic actuators	-	-	Concentric Tube Robot helical steerable needle	Vanderbilt University
2017	Nycz et al. [53]	-	Tip pose: 1.37 ± 0.06 mm; Insertion angle 0.79° ± 0.41°	7 DOF	piezoelectric ultrasonic motors	Automated needle drive	2.9% SNR drop (Powered on) 10.3% SNR drop (moving)	Kinematically equivalent to the commonly used Leksell stereotactic frame	Worcester Polytechnic Institute