Design of a 6-DoF Parallel Robotic Platform for MRI Applications.
Design of a 6-DoF Parallel Robotic Platform for MRI Applications.
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用于 MRI 应用的 6-DoF 并行机器人平台设计。
DOI：
10.1142/s2424905x22410057
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Chen,Yue
中科院分区：
文献类型：
--
作者：
Musa,Mishek;Sengupta,Saikat;Chen,Yue
在这项工作中，设计，分析和表征的并行机器人运动生成平台与6自由度（DoF）的磁共振成像（MRI）的应用。开发该机器人的动机是需要一个能够在MRI孔内产生精确的6-DoF运动的机器人平台，以作为运动建模的基础事实;其他应用包括操纵介入工具，如活检和消融针以及用于MRI引导下的治疗和神经调节的超声探头。该机器人由六个气动缸驱动器通过鲁棒滑模控制器控制。对气动执行器的跟踪实验表明，该系统对阶跃信号和正弦信号的跟踪平均误差分别为0.69 ± 0.14mm和0.67 ± 0.40mm。为了证明使用所提出的机器人微创手术的可行性和潜力，在台式环境中进行了幻影实验，其中显示的平均位置误差为1.200.43 mm，平均定向误差为1.09，分别。在3 T人体全身MRI扫描仪上进行的实验表明，该机器人具有MRI兼容性，能够在扫描仪内实现1.68 ± 0.31mm的位置误差和1.51 ± 0.32 mm的定向误差。本研究证明了该器械在MRI环境中实现精确6自由度运动的潜力。
In this work, the design, analysis, and characterization of a parallel robotic motion generation platform with 6-degrees of freedom (DoF) for magnetic resonance imaging (MRI) applications are presented. The motivation for the development of this robot is the need for a robotic platform able to produce accurate 6-DoF motion inside the MRI bore to serve as the ground truth for motion modeling; other applications include manipulation of interventional tools such as biopsy and ablation needles and ultrasound probes for therapy and neuromodulation under MRI guidance. The robot is comprised of six pneumatic cylinder actuators controlled via a robust sliding mode controller. Tracking experiments of the pneumatic actuator indicates that the system is able to achieve an average error of 0.690.14mm and 0.670.40mm for step signal tracking and sinusoidal signal tracking, respectively. To demonstrate the feasibility and potential of using the proposed robot for minimally invasive procedures, a phantom experiment was performed in the benchtop environment, which showed a mean positional error of 1.200.43mm and a mean orientational error of 1.09, respectively. Experiments conducted in a 3T whole body human MRI scanner indicate that the robot is MRI compatible and capable of achieving positional error of 1.680.31mm and orientational error of 1.510.32∘inside the scanner, respectively. This study demonstrates the potential of this device to enable accurate 6-DoF motions in the MRI environment.