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|Title:||An MR compatible robot technology|
|Citation:||Moser, R.,Gassert, R.,Burdet, E.,Sache, L.,Woodtli, H.R.,Erni, J.,Maeder, W.,Bleuler, H. (2003). An MR compatible robot technology. Proceedings - IEEE International Conference on Robotics and Automation 1 : 670-675. ScholarBank@NUS Repository.|
|Abstract:||Magnetically compatible robots are required to develop haptic interfaces for Neuroscience studies and MRI guided robots for minimally invasive interventions. This paper introduces an MR compatible master slave concept using a hydraulic transmission, and presents an operational robot able to work within an MRI/fMRI scanner and acquire images continuously during motion. It describes a magnetically inert actuator using a direct drive to power the hydraulic circuitry and a modular set of position and force/torque sensors that we have developed. These were integrated into a haptic interface prototype with one rotary degree of freedom, which can be used in conjunction with an fMRI. The MR compatibility was confirmed experimentally, and the performances show a manipulation accuracy of a few micrometers over a range of several centimeters, and forces up to several thousand Newton.|
|Source Title:||Proceedings - IEEE International Conference on Robotics and Automation|
|Appears in Collections:||Staff Publications|
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