Development of a differential actuator concept for MR-compatible robotic applications

In recent years, the use of robotics to augment MRI diagnostic and interventional procedures has increased significantly. However, the demanding MRI environment precludes the use of most common actuation approaches. Alternative actuation concepts have been proposed but these solutions do not lend themselves to linear control topologies. We present a new actuation method, using the motion of parallel ultrasonic motors combined through a differential mechanism, to address these limitations. A prototype of this device is constructed and evaluated. Results demonstrate the viability of the proposed approach while helping to clarify design improvements to further increase its utility.