Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot

DOI Web Site Web Site 被引用文献2件
  • Mingyen Ho
    Robotics, Automation, and Medical Systems (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
  • Yeongjin Kim
    Robotics, Automation, and Medical Systems (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
  • Shing Shin Cheng
    Robotics, Automation, and Medical Systems (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
  • Rao Gullapalli
    University of Maryland School of Medicine, Baltimore, MD, USA
  • Jaydev P. Desai
    Robotics, Automation, and Medical Systems (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

書誌事項

公開日
2015-05-18
権利情報
  • https://journals.sagepub.com/page/policies/text-and-data-mining-license
DOI
  • 10.1177/0278364915579069
公開者
SAGE Publications

この論文をさがす

説明

<jats:p> In this paper, we present our work on the development of a magnetic resonance imaging (MRI)-compatible minimally invasive neurosurgical intracranial robot (MINIR) comprising shape memory alloy (SMA) spring actuators and tendon–sheath mechanisms. We present the detailed modeling and analysis along with experimental results of the characterization of SMA spring actuators. Furthermore, to demonstrate image-feedback control, we used the images obtained from a camera to control the motion of the robot so that eventually continuous MR images could be used in the future to control robot motion. Since the image tracking algorithm may fail in some situations, we also developed a temperature feedback control scheme which served as a backup controller for the robot. Experimental results demonstrated that both image feedback and temperature feedback can be used to control the motion of MINIR. A series of MRI compatibility tests was performed on the robot and the experimental results demonstrated that the robot is MRI-compatible and no significant visual image distortion was observed in the MR images during robot operation. </jats:p>

収録刊行物

被引用文献 (2)*注記

もっと見る

問題の指摘

ページトップへ