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Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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An MR-Safe Pneumatic Stepper Motor: Design, Control, and Characterization.

Gang Li¹, Pavel Yarmolenko¹, Kevin Cleary¹

¹Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Medical Center, Washington, DC 20010.

Journal of Medical Devices

|April 10, 2025

Summary

A novel gear-based pneumatic stepper motor offers precise, bidirectional motion for robotic systems operating within Magnetic Resonance Imaging (MRI) environments. This MRI-compatible actuator ensures minimal image degradation, advancing robotic-assisted interventional procedures.

Keywords:

MR-Safe actuator MRI-guided intervention MRI-guided robot medical robot pneumatic stepper motor

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Area of Science:

Robotics
Biomedical Engineering
Medical Imaging

Background:

Magnetic Resonance Imaging (MRI) offers excellent soft tissue contrast without ionizing radiation, making it ideal for interventional procedures.
The strong electromagnetic fields in MRI pose significant challenges for integrating robotic systems.
Developing MRI-compatible actuators is essential for advancing MRI-guided robotic applications.

Purpose of the Study:

To design, control, and characterize a novel gear-based pneumatic stepper motor for MRI-guided robotic systems.
To evaluate the motor's performance in terms of torque, speed, and positional accuracy.
To assess the motor's compatibility within an MRI environment and its impact on image quality.

Main Methods:

A gear-based pneumatic stepper motor was designed with three actuating piston units and a geared rotor.
Sequential actuation of pistons using compressed air generated bidirectional stepwise motion.
Experiments were conducted to characterize torque, speed, closed-loop control, and MRI compatibility.

Main Results:

The motor achieved a maximum continuous torque of 1300 mNm at 80 PSI.
Closed-loop position tracking demonstrated a steady-state error of 0.81±0.52 degrees.
MRI compatibility tests revealed negligible degradation in image quality.

Conclusions:

The developed pneumatic stepper motor is a viable and effective actuator for MRI-guided robotic applications.
The motor's performance and MRI compatibility support its use in advanced interventional procedures.
This innovation facilitates the development of more sophisticated robotic systems for use within MRI scanners.