A Decade of MRI Compatible Robots: Systematic Review

Magnetic resonance imaging (MRI) offers better visualization for diagnosis, interventional radiology, and surgery from other imaging modalities without X-ray exposure. Medical robots have provided solutions for many surgical and rehabilitation procedures. A symbiosis of MRI and robotics can allow manipulation in closed MR-gantry, decrease trauma, operation, and recovery time for patients and improve the dexterity, convenience, and surgical outcome for physicians. However, the inherent properties and limitations of MR scanners had hindered their development. Technological advancements in the field of computers, additive manufacturing, and sensing in the past decade have changed robotics and the focus shifted again toward MRI-compatible robots. This article provides a compendium of the state-of-the-art literature on robotic systems developed for the MRI environment presented between 2009 and 2021. The systematic review discusses surgical and fMRI study robots, the actuation, and sensing solutions developed to assist such robots, recent research emphasis, current limitations, and prospects.