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Updated: Jan 24, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications.

Yue Chen1, Isuru S Godage1, Zion Tsz Ho Tse2

  • 1Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37212, USA.

IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
|May 21, 2019
PubMed
Summary

We developed an MR-conditional pneumatic motor with a fiber-optical encoder for robotic surgery. This novel actuator offers powerful, accurate motion within MRI scanners with minimal image disruption, enhancing interventional procedures.

Keywords:
MR-conditionalMagnetic Resonance Imaging (MRI)optical encodingpneumatic motor

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Area of Science:

  • Robotics
  • Medical Imaging
  • Biomedical Engineering

Background:

  • Magnetic Resonance (MR) guided interventional robots are increasingly used in surgeries like biopsy and ablation.
  • Actuators and encoders in these robots must be MR-conditional to prevent image artifacts and ensure safety.
  • Existing MR-conditional actuators often lack the power, precision, or design flexibility required for advanced robotic surgery.

Purpose of the Study:

  • To propose and characterize a novel MR-conditional pneumatic motor with an integrated fiber-optical encoder.
  • To evaluate the motor's performance, including torque, speed, power, and bandwidth.
  • To assess the motor's compatibility and impact within a 3T MRI scanner environment.

Main Methods:

  • Development of an MR-conditional pneumatic motor integrated with a custom fiber-optical encoder.
  • Coupling the motor with a modular plastic gearbox for adjustable gear ratios.
  • Performance testing including stall torque, no-load speed, output power, and frequency bandwidth with varying air hose lengths.
  • Evaluation of MR conditionalilty in a 3T MRI scanner, assessing image artifacts and signal-to-noise ratio (SNR) variations.

Main Results:

  • The motor achieved 460 mNm stall torque and 370 rpm no-load speed with a 100:1 gear reduction at 0.55 MPa, yielding a peak output power of 6W.
  • The motor demonstrated bandwidths of 1.1 Hz and 3.5 Hz with 8 m and 0.2 m air hoses, respectively.
  • Testing in a 3T MRI scanner showed no observable image artifacts and less than 5% SNR variation, confirming MR-conditional operation.
  • The proposed motor's design resembles traditional electric motors, offering enhanced flexibility for MR-conditional robot integration.

Conclusions:

  • The developed MR-conditional pneumatic motor provides powerful and accurate actuation suitable for MR-guided robotic surgery.
  • Its MR-conditional nature and minimal image artifact generation ensure safe and effective operation within MRI environments.
  • The motor's design flexibility and performance characteristics make it a promising component for next-generation MR-conditional interventional robots.