An MR compatible robot technology

Magnetically compatible robots are required to develop haptic interfaces for neuroscience studies and MRI guided robots for minimally invasive interventions. This paper introduces an MR compatible master slave concept using a hydraulic transmission, and presents an operational robot able to work wit...

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Bibliographic Details
Main Authors: Moser, R., Gassert, R., Burdet, E., Sache, L., Woodtli, H.R., Erni, J., Maeder, W., Bleuler, H.
Format: Conference Proceeding
Language:English
Subjects:
Force sensors
Haptic interfaces
Hydraulic actuators
Magnetic circuits
Magnetic resonance imaging
Master-slave
Minimally invasive surgery
Neuroscience
Robot sensing systems
Torque
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Summary:Magnetically compatible robots are required to develop haptic interfaces for neuroscience studies and MRI guided robots for minimally invasive interventions. This paper introduces an MR compatible master slave concept using a hydraulic transmission, and presents an operational robot able to work within an MRI/fMRI scanner and acquire images continuously during motion. It describes a magnetically inert actuator using a direct drive to power the hydraulic circuitry and a modular set of position and force/torque sensors that we have developed. These were integrated into a haptic interface prototype with on rotary degree of freedom, which can be used in conjuction with an fMRI. The MR compatibility was confirmed experimentally, and the performances show a manipulation accuracy of a few micrometers over a range of several centimeters, and forces up to several thousand Newton.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1241671