FLUID POWERED MASTER-SLAVE ACTUATION FOR MRI-GUIDED INTERVENTIONS

• Main Authors: LEE, Kit Hang, Brian, DONG, Ziyang, GUO, Ziyan, KWOK, Ka Wai
• Format: Patent
• Language: English
• Published: 14.01.2021
• Subjects: BLASTING; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR; DIAGNOSIS; FLUID-PRESSURE ACTUATORS; FLUID-PRESSURE ACTUATORS, e.g. SERVO-MOTORS; HEATING; HUMAN NECESSITIES; HYDRAULICS OR PNEUMATICS IN GENERAL; HYGIENE; IDENTIFICATION; LIGHTING; MECHANICAL ENGINEERING; MEDICAL OR VETERINARY SCIENCE; SURGERY; SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; WEAPONS

Systems and methods for an effective solution to MR safe actuation in all MRI-guided (robot-assisted) procedures are provided. The present integrated hydraulic transmission method or system uses piston-based cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to provide continuous bi-lateral rotation with unlimited range in an MRI environment. Positional and torque control can also be achieved. The system includes a master unit and a slave unit each comprising: a plurality of cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501), a piston (105,301,302,303,401,502) inserted within the bottom surface of each cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501), a seal positioned with each cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) between the piston (105,301,302,303,401,502) and the top surface of the cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to inhibit a fluid from passing across the seal, and a plurality of tubes (103) connecting the master unit cylinders and slave unit cylinders (402).