  This paper introduces a new type of nonmagnetic actuator for MRI
interventions. Ultrasonic and piezoelectric motors are one the most commonly
used actuators in MRI applications. However, most of these actuators are only
MRI-safe, which means they cannot be operated while imaging as they cause
significant visual artifacts. To cope with this issue, we developed a new
pneumatic rotary servo-motor (based on the Tesla turbine) that can be
effectively used during continuous MR imaging. We thoroughly tested the
performance and magnetic properties of our MRI-compatible actuator with several
experiments, both inside and outside an MRI scanner. The reported results
confirm the feasibility to use this motor for MRI-guided robotic interventions.
