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. Author manuscript; available in PMC: 2019 Oct 1.
Published in final edited form as: Ann Biomed Eng. 2018 Jun 19;46(10):1479–1497. doi: 10.1007/s10439-018-2075-x

Table 4:

MRI robotic system for other needle-based intervention

Year Team Study type Accuracy DOF Actuation type Control type SNR Institute Application
2016 Miller et al. [75] Nonsurvival swine study (N=8) All stents were deployed successfully - Innomotion - - National Institutes of Health (NIH), USA Cardiac intervention
2010 Li et al. [76] Ex-vivo 0.8 mm and 1.5 mm - Innomotion - - National Institutes of Health (NIH), USA Cardiac
intervention
2013 Tavallaei et al. [77] In air 2 ± 2◦ rotation
1.0 ± 0.8 mm axial
2 DOF ultrasonic motor Master-slave Less than 2.5% drop University of Western Ontario Cardiac
catheterization
2015 Monfaredi et al. [68] [69] Phantom - 4 DOF Piezoelectric
motor
Manual needle insertion Powered off: 2% drop Children’s National Health System, DC, USA Arthrography
2016 Franco et al. [78] [79] Phantom Below 5 mm 4 DOF Pneumatic cylinders Manual needle insertion Less than 5% drop Imperial College London Liver tumor ablation
2017 Kim et al. [71] - - 4 dof Piezoelectric
motor
Manual needle insertion - Johns Hopkins University Arthrography
2017 Stoianovici et al. [72] Phantom 1.39 mm
SD 0.4 mm
3 DOF PneuStep Manual tool insertion - Children’s National Health System, DC, USA
Johns Hopkins university
Bone biopsy
2017 Squires et al. [73] Swine Cadaver 1.12 mm
SD 0.97 mm
4 DOF Pneumatic motor - Less than 3% in 3 a Tesla scanner University of Georgia Spinal Cellular Therapeutics