MRI/fMRI-compatible robotic system with force feedback for interaction with human motion
MRI/fMRI-compatible robotic system with force feedback for interaction with human motion
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DOI：
10.1109/tmech.2006.871897
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发表时间：
2006-04-01
影响因子：
6.4
通讯作者：
Bleuler, H
中科院分区：
文献类型：
--
作者：
Gassert, R;Moser, R;Bleuler, H
本文提出了一种与解剖磁共振成像（MRI）以及更灵敏的功能磁共振成像（fMRI）兼容的机器人系统，并且可以在成像过程中安全、平稳地与人体运动交互。该系统通过将干扰或敏感组件放置在控制室内的屏蔽之外，利用了包围 MR 室的电磁屏蔽。这样就无需在每次使用前进行大量的兼容性测试。该概念基于放置在扫描仪室外的传统致动器和静压连接，用于将力和运动传输到放置在 MR 扫描仪旁边或内部的 MR 兼容从动装置。力传感器基于光纤反射光强度测量，测量与人体的相互作用力。用于手腕运动的机器人界面展示了该概念的 MR 兼容性以及在功能成像过程中与各种动态环境交互的可能性。该技术为介入 MRI 辅助设备和神经科学研究触觉界面等应用奠定了基础。
This paper presents a robotic system that is compatible with anatomical magnetic resonance imaging (MRI) as well as with the more sensitive functional MRI (fMRI), and can safely and smoothly interact with human motion during the imaging. The system takes advantage of the electromagnetic shield that encloses the MR room by placing the interfering or sensitive components outside the shield, in the control room. This eliminates the need for extensive compatibility testing before each use. The concept is based on a conventional actuator placed outside the scanner room and a hydrostatic connection to transmit force and motion to an MR-compatible slave placed next to or inside the MR scanner. A force sensor, based on reflected light intensity measurement over optical fibers, measures interaction forces with the human subject. A robotic interface for wrist motion demonstrates the MR compatibility of this concept and the possibility to interact with various dynamic environments during functional imaging. This technology provides a basis for applications such as assistive devices for interventional MRI and haptic interfaces for neuroscience investigations.