Paper Title
Actuation Mechanisms used in MRI-Compatible Tele- Robotic Surgeries: A Review

Abstract
Robotic surgery has developed over the years as an improvement over minimally invasive surgery (MIS), where surgeons are able to operate on patients using a tele manipulator or controller in order to facilitate the concise application of medical instruments. Magnetic resonance imaging (MRI) has become the leading form of image acquisition due to its ability to produce high resolution images during robotically assisted MIS. However, the MRI scanner places conditions on the robot that allow only for certain compatible actuation methods used in the robotic system to negate large interference that hinders the image quality. This review paper focuses on the four main MRI-compatible actuation mechanisms: hydraulic, pneumatic, piezoelectric, and shape memory alloy. From the recent publications made on MRI-compatible robotic surgeries, signal-to-noise ratio (SNR) reduction, performance, and limitations were mainly discussed in this review. Favorable MRI compatibility with low SNR reduction, performance, and simple implementation were observed to be the most important characteristics of a proper actuation mechanism for MRI robotic surgeries. After reviewing each publication, it was concluded that shape memory alloy, despite also having a form of limitation, demonstrated to be more favorable compared to the other actuation methods due to factors such as low cost, negligible SNR reduction, and high power output for medical interventions