A 10-mm MR-Conditional Unidirectional Pneumatic Stepper Motor

Magnetic resonance (MR) conditional robotic devices facilitate accurate interventional procedures under MR imaging (MRI) guidance. For this purpose, a compact (10-mm diameter) MR-conditional stepper motor is presented. The device features seven key components, which contribute to a dense and easy to...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2015-04, Vol.20 (2), p.782-788
Main Authors: Yue Chen, Mershon, Christopher D., Tse, Zion Tsz Ho
Format: Article
Language:English
Subjects:
Automation
Devices
Force
Friction
Gears
Magnetic resonance (MR)-conditional
Magnetic resonance imaging
Manufacturing engineering
Materials
Mechatronics
Motors
MR imaging (MRI)
pneumatic stepper motor
Springs
Steppers
Torque
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Summary:Magnetic resonance (MR) conditional robotic devices facilitate accurate interventional procedures under MR imaging (MRI) guidance. For this purpose, a compact (10-mm diameter) MR-conditional stepper motor is presented. The device features seven key components, which contribute to a dense and easy to fabricate design. Alternating bursts of pressurized air and vacuum can drive the motor in 60° per step to achieve a maximum torque of 2.4 mNm. The relationship between torque and angular speed was investigated to demonstrate motor performance under different loading conditions. The stepper motor was tested in a GE 3T MRI scanner to verify its MR-compatibility. A maximum artifact width of 3 mm was measured in MRI images and a maximum signal-to-noise ratio reduction of 2.49% was recorded.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2014.2305839