Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/73183
DC Field | Value | |
---|---|---|
dc.title | An MR compatible robot technology | |
dc.contributor.author | Moser, R. | |
dc.contributor.author | Gassert, R. | |
dc.contributor.author | Burdet, E. | |
dc.contributor.author | Sache, L. | |
dc.contributor.author | Woodtli, H.R. | |
dc.contributor.author | Erni, J. | |
dc.contributor.author | Maeder, W. | |
dc.contributor.author | Bleuler, H. | |
dc.date.accessioned | 2014-06-19T05:32:07Z | |
dc.date.available | 2014-06-19T05:32:07Z | |
dc.date.issued | 2003 | |
dc.identifier.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. | |
dc.identifier.issn | 10504729 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/73183 | |
dc.description.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. | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | MECHANICAL ENGINEERING | |
dc.description.sourcetitle | Proceedings - IEEE International Conference on Robotics and Automation | |
dc.description.volume | 1 | |
dc.description.page | 670-675 | |
dc.description.coden | PIIAE | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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