Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - workspace analysis, workspace control, and stiffness evaluation

Author

Koseki, Yoshihiko ; KOYACHI, Noriho ; Arai, Tamio ; Chinzei, Kiyoyuki

Author_Institution

Nat. Inst. of Adv. Ind. Sci. & Technol., Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

652

Abstract

In this paper, a novel mechanism of remote actuation was proposed and its mechanical problems were discussed. This mechanism consists of leverage and parallelogram mechanism and transmits 3 d.o.f translational and 3 d.o.f rotational motions from the input to output. Such a remote actuation is significantly useful for robotic assist around MRI where the strong and precise magnet is used for imaging, because mutual effect between MRI and robot are inverse proportional to the distance. In this paper, the basic ideas of mechanism were introduced firstly. The discussions of its stiffness and workspace conclude their trade-off. Our new idea of workspace control for mechanical safety is preliminary discussed.

Keywords

magnetic resonance imaging; manipulators; medical robotics; rotational states; telerobotics; translational states; 3 DOF rotational motion; 3 DOF translational motion; MR-compatible manipulator; MRI; imaging; leverage; mechanical safety; parallelogram; remote actuation mechanism; robotic assistance; workpiece control; Computed tomography; Magnetic materials; Magnetic resonance imaging; Manipulators; Minimally invasive surgery; Orbital robotics; Robot kinematics; Steel; Surges; X-ray imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241668

Filename

1241668