MR compatible actuation for medical instrumentation

B. Vigaru, D. Petrisor, A. Patriciu, D. Mazilu, D. Stoianovici

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Surgical robots and especially their subclass of image-guided systems require special design, construction and control compared to industrial types, due to the special requirements of the medical and imaging environments. Imager compatibility raises significant engineering challenges for the development of robotic manipulators with respect to imager access, safety, ergonomics, and above all the non-interference with the functionality of the imager. These apply to all known medical imaging types, but are especially challenging for achieving compatibility with the class of Magnetic Resonance Imaging (MRI) systems. Even though a large majority of robotic components may be redesigned to be constructed of MRI compatible materials, for other components such as the motors used in actuation, prescribing MRI compatible materials alone is not sufficient. The electromagnetic motors most commonly used in robotic actuation, for example, are incompatible by principle. We report here an important achievement in MRI instrumentation, a new type of pneumatic motor, PneuStep[1], specifically developed for MrBot, the first pneumatic, fully actuated MR robotic system that can be located within the scanner alongside the patient and operating under remote control based on the images.

Original languageEnglish (US)
Title of host publicationProceedings - CIS Workshops 2007, 2007 International Conference on Computational Intelligence and Security Workshops, CISW 2007
Pages49-52
Number of pages4
DOIs
StatePublished - Sep 29 2008
Event52008 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR 2008 - THETA 16th Edition - Cluj-Napoca, Romania
Duration: May 22 2008May 25 2008

Publication series

Name2008 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR 2008 - THETA 16th Edition - Proceedings
Volume3

Conference

Conference52008 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR 2008 - THETA 16th Edition
CountryRomania
CityCluj-Napoca
Period5/22/085/25/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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