Early Studies of a Transmission Mechanism for MR-Guided Interventions

被引:0
|
作者
Zhao, Haoran [1 ]
Liu, Xin [2 ]
Zaid, Habib M. [2 ]
Shah, Dipan J. [3 ]
Heffernan, Michael J. [4 ]
Becker, Aaron T. [1 ]
Tsekos, Nikolaos V. [2 ]
机构
[1] Univ Houston, Dept Elect & Comp Engn, Houston, TX 77004 USA
[2] Univ Houston, Dept Comp Sci, Houston, TX 77204 USA
[3] Methodist DeBakey Heart & Vasc Ctr, Cardiovasc MRI Lab, Houston, TX USA
[4] GuidaBot LLC, Houston, TX USA
来源
2017 IEEE 17TH INTERNATIONAL CONFERENCE ON BIOINFORMATICS AND BIOENGINEERING (BIBE) | 2017年
基金
美国国家科学基金会;
关键词
Solid media transmission; MR compatible; Robotic Actuator; COMPATIBLE ROBOTIC SYSTEM; MAGNETIC-RESONANCE; BRACHYTHERAPY; MOTION;
D O I
10.1109/BIBE.2017.00082
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
Magnetic resonance imaging (MRI)-guided, manipulator-assisted interventions have the potential to improve patient outcomes. This work presents a force transmission mechanism, called solid-media transmission (SMT), for actuating manipulators inside MRI scanners. The SMT mechanism is based on conduits filled with spheres and spacers made of a nonmagnetic, nonconductive material that forms a backbone for bidirectional transmission. Early modeling and experimental studies assessed SMT and identified limitations and improvements. Simulations demonstrated the detrimental role of friction, which can be alleviated with a choice of low friction material and long spacers. However, the length of spacer is limited by the desired bending of the conduit. A closed-loop control law was implemented to drive the SMT. The 3rd order system fit ratio is 92.3%. A 1-m long SMT was experimentally tested under this closed-loop controller with heuristically set parameters using a customized benchtop setup. For commanded displacements of 1 to 50 mm, the SMT-actuated 1 degree of freedom stage exhibited sub-millimeter accuracy, which ranged from 0.109 +/- 0.057 mm to 0.045 +/- 0.029 mm depending on the commanded displacement. However, such accuracy required long control times inversely proportional to displacement ranging from 7.56 +/- 1.85s to 2.53 +/- 0.11s. This was attributed to friction as well as backlash which is due to suboptimal packing of the media. In MR studies, a 4-m long SMT-actuated 1 DoF manipulator was powered by a servo motor located inside the scanner room but outside the 5 Gauss line of the magnet. With shielding and filtering, the SNR of MR images during the operation of the servo motor and SMT-actuation was found to be 89 +/- 9% of the control case.
引用
收藏
页码:450 / 456
页数:7
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