开源MR-Safe气动辐射输入电机和编码器 (PRIME):设计和制造指南
Anthony L Gunderman1, Milad Azizkhani1, Saikat Sengupta2
1Georgia Tech Institute for Robotics and Intelligent Machines (IRIM), Atlanta, GA 30313, USA.
概括
我们开发了PRIME,这是第一个开源,MR安全的气动电机和编码器,用于机器人干预. 这种可扩展的设计提高了患者的安全性和程序中的MR成像质量.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗成像医学成像
- 生物医学工程 生物医学工程
背景情况:
- 用于MR引导干预的执行器和编码器需要高安全性和图像兼容性.
- 现有的解决方案可能是昂贵的,或缺乏适应多种程序的适应性.
研究的目的:
- 引入一个开源的,MR安全的气动电机和编码器设计.
- 为MR引导的机器人干预提供可扩展和适应的解决方案.
主要方法:
- 开发了一个参数设计的气动辐射输入电机和编码器 (PRIME),具有五个关键参数.
- 大多数组件和现成零件都采用了3D打印.
- 集成了一个3D打印的外与光纤电缆用于方格编码.
主要成果:
- 对于各种扭矩和转速需求,PRIME设计是可扩展的.
- 所有组件都是3D打印或随时可用的.
- 台式实验验证了电机和编码器的性能.
结论:
- PRIME代表了第一个开源的MR安全气动电机和编码器.
- 这种设计降低了MR导向机器人研究的进入障碍.
- 参数设计允许定制用于广泛的应用.
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