MR compatible manipulandum with ultrasonic motor for fMRI studies
MR compatible manipulandum with ultrasonic motor for fMRI studies
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带有超声波电机的 MR 兼容操作器，用于 fMRI 研究
DOI：
10.1109/robot.2006.1642291
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Koji Ito
中科院分区：
文献类型：
--
作者：
J. Izawa;Takahiro Shimizu;Toshiyuki Aodai;T. Kondo;H. Gomi;S. Toyama;Koji Ito
磁共振兼容设备是设计功能磁共振研究新任务的必要条件。本文介绍了一种由超声波电机驱动的磁共振兼容机械手的研制，该机械手能够在MRI扫描仪内工作，并在手指运动过程中连续执行fMRI任务。该机器人样机能够产生两种可区分的力场：位置相关力场和速度相关力场。根据超声波电机的速度-相位差-转矩特性，推导了控制律。通过图像的信噪比验证了其MR兼容性，表明该样机能够用于功能磁共振成像研究
MR compatible apparatus is essential to design new tasks for fMRI study. This paper described the development of an MR compatible manipulandum actuated by the ultrasonic motors, which was able to work within MRI scanner and to perform fMRI task continuously during finger movements. The prototype of manipulandum was able to produce two discriminable force fields: position dependent and velocity dependent force field. The control law was derived by the characteristic of velocity-phase difference-torque relationship of the ultrasonic motor. After MR compatibility was verified with signal noise ratio of the images, it was shown that the proposed prototype was able to use for fMRI study