Title :
A Modular Approach to MRI-Compatible Robotics
Author :
Elhawary, Haytham ; Zivanovic, Aleksander ; Rea, Marc ; Davies, Brian L. ; Besant, C. ; Young, Ian A. ; Lamperth, M.U.
Author_Institution :
Dept. of Mech. Eng., Imperial Coll. London, London
Abstract :
The objective of the research described in this article is to create individual MR-compatible modules consisting of 1-DoF stages complete with actuators and position encoders for implementation of the closed-loop position control. These modules can connect together to form multi-DoF assemblies that can be located inside the scanner bore near to the patient anatomy that requires the intervention. This avoids the problems associated with remote actuation and transmission mechanisms, considerably reducing the size of the manipulator. As most robots consist of kinematic chains of 1-DoF stages, these modules would be suitable for a wide range of interventions, and their design can be optimized for the procedure for which they are applied to.
Keywords :
actuators; biomedical MRI; closed loop systems; manipulator kinematics; medical robotics; position control; surgery; 1-DoF stages; MR-compatible manipulator; MRI-compatible robotics; actuator system; closed-loop position control; computer-assisted intervention; multiDoF assemblies; piezoceramic motor; position encoders; robotic modular approach; Actuators; EMP radiation effects; Magnetic fields; Magnetic materials; Magnetic resonance; Manipulators; Piezoelectric materials; Radio frequency; Robots; Safety devices; Equipment Design; Equipment Failure Analysis; Image Enhancement; Magnetic Resonance Imaging, Interventional; Robotics; Surgery, Computer-Assisted; Systems Integration;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
DOI :
10.1109/EMB.2007.910260
