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Abstract #3588

Real-time MRI-guided interventions using rolling-diaphragm hydrostatic actuators

Samantha Mikaiel1,2, James Simonelli3, David Lu1, Kyung Sung1,2, Tsu-Chin Tsao3, and Holden H Wu1,2

1Radiological Sciences, University of California, Los Angeles, Los Angeles, CA, United States, 2Biomedical Physics, University of California, Los Angeles, Los Angeles, CA, United States, 3Mechanical and Aerospace Engineering, University of California, Los Angeles, Los Angeles, CA, United States

In this work we investigate a new rolling-diaphragm-based hydrostatic actuator design to achieve smooth remote manipulation without fluid leakage for MR-compatible robotic systems. We show that the actuators exhibit negligible impact on MR image fidelity and SNR, the actuator provides a linear displacement response over the fluid lines, and we were able to use the master/slave actuator pair to insert and retract the needle in a phantom with no leakage and no noticeable friction issues. Our new rolling-diaphragm hydrostatic actuators can potentially enable physicians to remotely perform real-time MRI-guided interventions.

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