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Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot
The International Journal of Robotics Research ( IF 9.2 ) Pub Date : 2015-05-18 , DOI: 10.1177/0278364915579069
Mingyen Ho 1 , Yeongjin Kim 1 , Shing Shin Cheng 1 , Rao Gullapalli 2 , Jaydev P Desai 1
Affiliation  

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.

中文翻译:

MRI 引导的 SMA 弹簧驱动神经外科机器人的设计、开发和评估

在本文中,我们介绍了我们在开发与磁共振成像 (MRI) 兼容的微创神经外科颅内机器人 (MINIR) 方面的工作,该机器人包括形状记忆合金 (SMA) 弹簧执行器和腱鞘机制。我们展示了详细的建模和分析以及 SMA 弹簧执行器特性的实验结果。此外,为了演示图像反馈控制,我们使用从相机获得的图像来控制机器人的运动,以便将来最终可以使用连续的 MR 图像来控制机器人的运动。由于图像跟踪算法在某些情况下可能会失效,我们还开发了一种温度反馈控制方案,作为机器人的备用控制器。实验结果表明,图像反馈和温度反馈均可用于控制MINIR的运动。对机器人进行了一系列的 MRI 兼容性测试,实验结果表明机器人是 MRI 兼容的,并且在机器人操作过程中 MR 图像中没有观察到明显的视觉图像失真。
更新日期:2015-05-18
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