Development of a Parallel Actuation Approach for MR-Compatible Robotics

In recent years, the use of robotics to augment MRI diagnostic and interventional procedures has increased significantly. However, the demanding MRI environment precludes the use of most common actuation approaches. Alternative actuation concepts have been proposed but these solutions do not lend th...

Full description

Saved in:
Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 19; no. 3; pp. 904 - 915
Main Authors Esser, Christopher M., Parthiban, Chembian, Zinn, Michael R.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.06.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Acceleration
Acoustics
Actuation
Actuators
Diagnostic systems
Gears
Linear control
Magnetic resonance imaging
medical robotics
Motors
MR-compatible actuation
Robotics
Telerobotics
Time delay
Online AccessGet full text

Cover

More Information
Summary:In recent years, the use of robotics to augment MRI diagnostic and interventional procedures has increased significantly. However, the demanding MRI environment precludes the use of most common actuation approaches. Alternative actuation concepts have been proposed but these solutions do not lend themselves to linear control structures. We present a new actuation method, using the motion of parallel ultrasonic motors combined through a differential mechanism, to address these limitations. Specifically, the approach eliminates the nonlinear velocity dead band and velocity reversal time delay characteristic of MR-compatible ultrasonic actuators. A prototype of this device is constructed and evaluated. Results demonstrate the viability of the proposed approach for linear position control and telerobotic applications.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2013.2263638