TY - GEN
T1 - A new transmission mechanism for the actuation of manipulators for magnetic resonance imaging (MRI) guided interventions
AU - Liu, Xin
AU - Biediger, Daniel
AU - Kopru, Rahul
AU - Christoforou, Eftychios G.
AU - Tsekos, Nikolaos V.
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - This work presents a novel mechanism for force transmission specially designed for actuating robotic manipulators inside the MR scanner in order to perform interventions with real-time MRI guidance. This force transmission mechanism, herein referred to as Solid Media Transmission (SMT), uses channels filled with solid media and force is transmitted from one to the other end by the translation of the media inside the respective tubing. SMT lines were implemented with material compatible and safe to the MR environment. Bench top studies on a 2-m long SMT line, using specially designed sensor units to measure force and displacement, demonstrated that SMT gave out immediate motion response and over 80% displacement transfer efficiency. It indicates the feasibility to use SMT for manipulator tool positioning. In the MRI studies of the SMT mechanism we used a conventional stepper motor as a cost-efficient and simple powering source option. To ensure MR compatibility and safety at a 1.5 Tesla scanner we used a 4-m long SMT to place the motor outside of the 5 Gauss line, and to reduce electromagnetic interference from the controllers we used shielding and filtering of the drive signals. Force was successfully transmitted over the 4-m SMT with an efficiency of over 50%. Moreover, the custom shielding and filtering resulted to minimal EMI noise of less than 6% of the phantom signal.
AB - This work presents a novel mechanism for force transmission specially designed for actuating robotic manipulators inside the MR scanner in order to perform interventions with real-time MRI guidance. This force transmission mechanism, herein referred to as Solid Media Transmission (SMT), uses channels filled with solid media and force is transmitted from one to the other end by the translation of the media inside the respective tubing. SMT lines were implemented with material compatible and safe to the MR environment. Bench top studies on a 2-m long SMT line, using specially designed sensor units to measure force and displacement, demonstrated that SMT gave out immediate motion response and over 80% displacement transfer efficiency. It indicates the feasibility to use SMT for manipulator tool positioning. In the MRI studies of the SMT mechanism we used a conventional stepper motor as a cost-efficient and simple powering source option. To ensure MR compatibility and safety at a 1.5 Tesla scanner we used a 4-m long SMT to place the motor outside of the 5 Gauss line, and to reduce electromagnetic interference from the controllers we used shielding and filtering of the drive signals. Force was successfully transmitted over the 4-m SMT with an efficiency of over 50%. Moreover, the custom shielding and filtering resulted to minimal EMI noise of less than 6% of the phantom signal.
KW - Magnetic Resonance Imaging
KW - Mechanical Force Transmission
KW - MRI-Compatible Robotics
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U2 - 10.1007/978-3-319-32703-7_130
DO - 10.1007/978-3-319-32703-7_130
M3 - Conference contribution
AN - SCOPUS:84968677652
SN - 9783319327013
T3 - IFMBE Proceedings
SP - 673
EP - 678
BT - XIV Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2016
A2 - Kyriacou, Efthyvoulos
A2 - Christofides, Stelios
A2 - Pattichis, Constantinos S.
PB - Springer-Verlag
T2 - 14th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2016
Y2 - 31 March 2016 through 2 April 2016
ER -