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Ensuring thermal safety will enable safe and reliable operation of magnetically actuated robotic catheters within MRI\u00a0environments.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Purpose<\/jats:title>\n                    <jats:p>This study aims to develop a novel MRI\u2010compatible robotic catheter design that mitigates RF\u2010induced and resistive heating, ensuring patient safety and proper functionality during MRI\u2010guided interventions, particularly for cardiac ablation procedures. The catheter is directly actuated by magnetic torques generated on current\u2010carrying microcoils at the tip by the MRI scanner's static magnetic field, allowing precise\u00a0navigation.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>The catheter design incorporates systematically tuned microcoil parameters and distributed capacitors along the leadwires to suppress resonance and minimize RF energy absorption. A dithering technique applying actuation currents at a 50 duty cycle (10\u00a0Hz, 50\u00a0ms on\/off) promotes forced convection to reduce resistive heating. A resistor\u2010capacitor (RC) equivalent circuit model was used to characterize the catheter's thermal behavior. Thermal validation was conducted on a 3T MRI scanner using a saline\u2010filled phantom, fiber\u2010optic temperature probes, and a balanced steady\u2010state free precession (bSSFP) imaging sequence with actuation currents up to 1\u00a0A. Hot spot detection sweeps along the leadwires and spatial heating assessments at multiple bore positions were also\u00a0performed.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The prototype exhibited a maximum temperature increase of 0.6 during simultaneous imaging and 1\u00a0A dithered actuation, well within Food and Drug Administration (FDA) safety limits. No hot spots were detected along the leadwires, and thermal performance remained consistent across all bore positions\u00a0tested.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The catheter design effectively mitigates both RF\u2010induced and resistive heating under the tested conditions. These results demonstrate the suitability of the design for MRI\u2010guided interventional procedures under the tested conditions, while remaining within FDA temperature\u00a0limits.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/mp.70630","type":"journal-article","created":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T14:34:53Z","timestamp":1786372493000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Magnetic resonance imaging safety\u2010driven, heat\u2010mitigating design for a magnetic resonance imaging\u2010guided, magnetically actuated robotic catheter"],"prefix":"10.1002","volume":"53","author":[{"given":"E. Erdem","family":"Tuna","sequence":"first","affiliation":[{"name":"Department of Electrical, Computer, and Systems Engineering Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gabriel J.","family":"Foss","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Systems Engineering Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sanjana","family":"Kamath","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Systems Engineering Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ridaa Z.","family":"Ali","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Systems Engineering Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yen\u2010Chun","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Systems Engineering Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahmed B.","family":"Aydin","sequence":"additional","affiliation":[{"name":"Department of Electrical, Computer, and Systems Engineering Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Reid","family":"Bolding","sequence":"additional","affiliation":[{"name":"Department of Physics Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mark","family":"Griswold","sequence":"additional","affiliation":[{"name":"Department of Radiology Case Western Reserve University Cleveland Ohio USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M. 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