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Title: An MR compatible robot technology
Authors: Moser, R.
Gassert, R.
Burdet, E. 
Sache, L.
Woodtli, H.R.
Erni, J.
Maeder, W.
Bleuler, H.
Issue Date: 2003
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
ISSN: 10504729
Appears in Collections:Staff Publications

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