A modular approach to MRI-compatible robotics
A modular approach to MRI-compatible robotics
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DOI：
10.1109/emb.2007.910260
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发表时间：
2008-05-01
影响因子：
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通讯作者：
Lamperth, Michael U.
中科院分区：
文献类型：
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作者：
Elhawary, Haytham;Zivanovic, Aleksandar;Lamperth, Michael U.
本文所述研究的目的是创建单个MR兼容模块，该模块由1-DoF级组成，配有执行机构和位置编码器，用于实施闭环位置控制。这些模块可以连接在一起以形成多自由度组件，该多自由度组件可以位于扫描仪孔内，靠近需要介入的患者解剖结构。这避免了与远程致动和传动机构相关的问题，大大减小了操纵器的尺寸。由于大多数机器人由1-DoF阶段的运动链组成，这些模块将适合于各种干预，并且它们的设计可以针对它们所应用的程序进行优化。
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.