Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces

Author

Chapuis, D. ; Gassert, R. ; Ganesh, G. ; Burdet, E. ; Bleuler, H.

Author_Institution

Lab. of Robotic Syst., Ecole Polytech. Fed. de Lausanne

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

426

Lastpage

431

Abstract

This paper investigates a cable transmission to remotely actuate MR compatible robots over a distance of several meters. Such a transmission could be an interesting solution for haptic interfaces for neuroscience studies performing force feedback during functional magnetic resonance imaging (fMRI), as well as for robots for interventional MRI. MR compatible components, transmission length and bandwidth as well as cable properties are discussed. Experiments performed on an MR compatible test bench allowing variable transmission length up to 9 meters show a mechanical bandwidth of over 30 Hz. Transmission performances and flexibility are compared with those of a hydrostatic transmission

Keywords

biomedical MRI; biomedical telemetry; electromagnetic compatibility; force feedback; haptic interfaces; man-machine systems; medical robotics; neurophysiology; telerobotics; virtual reality; MR compatible robots; cable transmission; electromagnetic compatibility; fMRI; force feedback; functional magnetic resonance imaging; haptic interfaces; hydrostatic transmission; neuroscience; test bench; Actuators; Bandwidth; Electromagnetic compatibility; Electromagnetic forces; Force feedback; Haptic interfaces; Human robot interaction; Magnetic resonance imaging; Mechanical cables; Performance evaluation;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639125

Filename

1639125