Novel actuator for medical image-guided surgical assist robot

在这十年中，术中mri引导的手术是利用患者的实时生物信息进行的。对于更精确的手术，具有导航功能的机器人设备在MRI环境中被认为是有用的。在这个项目中，我们提出了一种新型的MRI兼容旋转和制动驱动器，用于MRI引导的手术装置，以实现精确的定位任务。该致动器结合了采用气动动力的步进旋转机构和采用带水的珀尔捷冷却元件的冻结制动机构。原型执行器的开发和评估。在响应速度上存在问题，实现定位精度和固定力的强度对于定位使用是足够的。

In these decade, intraoperative MRI-guided surgeries are performed using real time biological information of the patients. For more precise surgery, a robotic device with navigation is considered useful inside the MRI environment. In this project, we proposed a novel MRI compatible rotation-and-brake actuator for MRI-guided surgical device to achieve precise positioning tasks. The actuator combines a stepping rotation mechanism using pneumatic power and a freezing brake mechanism using peltier cooling element with water. Prototype actuators are developed and evaluated. There is a problem in the response speeds, it is realized that the positioning accuarcy and the strength of the fixing force are enough for the positioning use.