Abstract
BACKGROUND: The safe performance of magnetic resonance imaging (MRI)-guided robot-assisted interventions requires full control and high precision of assistive devices. Because many currently available tools are not MRI-compatible, the characterization of existing tools and development of new ones are necessary. The purpose of this research is to identify and minimize the image artifacts generated by a USM in MR images. METHODS: The behavior of an ultrasonic motor (USM), the most common MRI-safe actuator, in a high-field scanner was investigated. The motor was located in three orientations with respect to the bore axis with the power on or off. The induced image artifacts were compared across four sequences. Three artifact reduction methods (employing ultrashort sequences, slice thickness reductions, and bandwidth increments) were tested. RESULTS: Signal voids, pileups, and geometric distortions were observed when the motor was off. The artifact size was minimal when the motor shaft was aligned with the bore axis. In addition to the above artifacts, zipper and motion artifacts were noted when the motor was running, and these artifacts increased with increasing motor speed. Increasing the bandwidth slightly reduced the artifacts. However, decreasing the slice thickness from 5 mm to 3 mm and from 5 mm to 1 mm reduced artifact size from 30% to 40% and from 60% to 75%, respectively. CONCLUSION: The image artifacts were due to the non-homogenous nature of the static and gradient fields caused by the motor structure. The operating motor interferes with the RF field, causing zipper and motion artifacts.