核磁共振成像（Magnetic Resonance Imaging，MRI）通过高分辨率目标组织扫描，可以使医生和患者 在免于电离辐射的情况下实现实时成像。近年来，科学家和工程师们一直尝试将机器人技术与 MRI 结合在一起，实 现机器人辅助和图像引导相结合的诊断及治疗。本文介绍了可用于术中 MRI 的医疗机器人系统，具体包括它们的成 像兼容性、驱动方式、传感方式、运动学以及机械和电气设计，这些技术使得机器人在 MRI 引导下的介入诊疗成为 可能，此外，基于不同的医学场景，本文对各种 MR 兼容机器人系统做了分类和比较研究，最后对 MR 兼容机器人 领域的未来发展方向进行了展望。

Magnetic resonance imaging (MRI) is able to scan target tissues with high resolution, and allows clinicians  as well as patients to be free from ionizing radiation. MRI enables real-time imaging of patients. In recent years, scientists  and engineers have been trying to combine robotic technology with MRI to achieve robot-assisted and image-guided diagnosis  and treatment. Medical robotic systems that could be used in intraoperative MRI were introduced in this survey, their MR  compatibility, actuation, sensing, kinematics, and electro-mechanical designs were specially summarized and discussed. These  robots make interventions under the guidance of MRI possible. In addition, based on various clinical scenarios, MR-compatible  robotic systems are classified and comparatively studied. Finally, we conclude the survey with an outlook on the future research  directions of the MR-compatible robotics.

收稿日期：2021-12-07  录用日期：2022-06-16 

Received Date: 2021-12-07  Accepted Date: 2022-06-16 

基金项目：国家自然科学基金青年项目（61803103） 

Foundation Item: National Natural Science Foundation of China (61803103) 

通讯作者：郭靖，Email：toguojing@gmail.com 

Corresponding Author: GUO Jing, Email: toguojing@gmail.com 

引用格式：吴迪，周兵，肖霄，等 . 用于治疗和诊断的核磁共振兼容手术机器人系统的发展现状 [J]. 机器人外科学杂志（中英文）， 2023，4（4）：299-319. 

Citation: WU D, ZHOU B, XIAO X, et al. A survey on MR-compatible surgical robots for treatment and diagnosis [J]. Chinese Journal of Robotic Surgery, 2023, 4 (4): 299-319. 

注：吴迪，原单位为德国慕尼黑工业大学机械工程学院，现单位为比利时鲁汶大学机械工程系

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