A New Transmission Mechanism for the Actuation of Manipulators for Magnetic Resonance Imaging (MRI) Guided Interventions
A New Transmission Mechanism for the Actuation of Manipulators for Magnetic Resonance Imaging (MRI) Guided Interventions
复制标题
一种用于驱动磁共振成像 (MRI) 引导干预机械臂的新型传输机制
DOI：
10.1007/978-3-319-32703-7_131
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发表时间：
2016
期刊：
影响因子：
2.9
通讯作者：
N. Tsekos
中科院分区：
文献类型：
--
作者：
Xin Liu;Daniel Biediger;R. Kopru;E. Christoforou;N. Tsekos
这项工作提出了一种新的力传递机制，专门为驱动MR扫描仪内的机器人操作器而设计，以便在实时MRI引导下执行干预。这种力传递机构，这里称为固体介质传输(SMT)，使用填充固体介质的通道，通过相应油管内介质的平移将力从一端传递到另一端。SMT生产线的实施材料兼容，对MR环境安全。在一条2m长的SMT生产线上进行的台面研究表明，SMT使用专门设计的传感器单元来测量力和位移，给出了即时的运动响应和80%以上的位移传递效率。这表明了SMT用于机械手刀具定位的可行性。在SMT机制的核磁共振研究中，我们使用传统的步进电机作为一种经济高效且简单的动力源选择。为了确保1.5特斯拉扫描仪的MR兼容性和安全性，我们使用4米长的SMT将电机放置在5高斯线之外，并使用屏蔽和过滤驱动信号来减少来自控制器的电磁干扰。力在4米SMT上成功传递，效率超过50%。此外，定制的屏蔽和过滤使EMI噪声降至最低，低于模信号的6%。
This work presents a novel mechanism for force transmission specially designed for actuating robotic manipulators inside the MR scanner in order to perform interventions with real-time MRI guidance. This force transmission mechanism, herein referred to as Solid Media Transmission (SMT), uses channels filled with solid media and force is transmitted from one to the other end by the translation of the media inside the respective tubing. SMT lines were implemented with material compatible and safe to the MR environment. Bench top studies on a 2-m long SMT line, using specially designed sensor units to measure force and displacement, demonstrated that SMT gave out immediate motion response and over 80% displacement transfer efficiency. It indicates the feasibility to use SMT for manipulator tool positioning. In the MRI studies of the SMT mechanism we used a conventional stepper motor as a cost-efficient and simple powering source option. To ensure MR compatibility and safety at a 1.5 Tesla scanner we used a 4-m long SMT to place the motor outside of the 5 Gauss line, and to reduce electromagnetic interference from the controllers we used shielding and filtering of the drive signals. Force was successfully transmitted over the 4-m SMT with an efficiency of over 50%. Moreover, the custom shielding and filtering resulted to minimal EMI noise of less than 6% of the phantom signal.
DOI：
10.1115/1.1785803
发表时间：
2004-08-01
影响因子：
1.7
作者：
Larson, BT;Erdman, AG;Koutlas, LG
通讯作者：
Koutlas, LG