用于机器人介入的磁共振成像驱动执行器
MRI-powered Actuators for Robotic Interventions.
作者信息
Vartholomeos Panagiotis, Qin Lei, Dupont Pierre E
机构信息
Cardiac Surgery, Children's Hospital Boston, Harvard Medical School, Boston, MA 02115 USA.
出版信息
Rep U S. 2011 Sep 25:4508-4515. doi: 10.1109/IROS.2011.6094962.
Abstract
This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability of the approach for needle biopsies. The concepts of actuator locking mechanisms and multi-axis control are also introduced.
摘要
本文提出了一种用于机器人辅助磁共振成像（MRI）引导介入手术的新型驱动技术。这种驱动器结构紧凑且无线，由MRI扫描仪供电并进行控制。文中描述了其设计理念并通过分析得出了性能极限。利用临床MR扫描仪进行的仿真和实验来验证分析结果，并展示该方法用于针吸活检的能力。还介绍了驱动器锁定机制和多轴控制的概念。
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