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

Volume

27

Issue

3

fYear

2008

Firstpage

35

Lastpage

41

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;

fLanguage

English

Journal_Title

Engineering in Medicine and Biology Magazine, IEEE

Publisher

ieee

ISSN

0739-5175

Type

jour

DOI

10.1109/EMB.2007.910260

Filename

4527220