一个MR安全的气动步进电机:设计,控制和表征
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
概括
一种基于轮的新型气动步进电机为在磁共振成像 (MRI) 环境中运行的机器人系统提供了精确的双向运动. 这种MRI兼容的执行器确保了最小的图像退化,推进了机器人辅助的干预程序.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 医疗成像医学成像
背景情况:
- 磁共振成像 (MRI) 在没有电离辐射的情况下提供出色的软组织对比度,因此非常适合干预手术.
- 在MRI中强大的电磁场对整合机器人系统构成重大挑战.
- 开发MRI兼容的执行器对于推进MRI引导的机器人应用是必不可少的.
研究的目的:
- 设计,控制和描述一种基于轮的新型气动步进电机,用于MRI引导的机器人系统.
- 以扭矩,转速和位置精度来评估电机的性能.
- 评估电机在MRI环境中的兼容性及其对图像质量的影响.
主要方法:
- 一个基于轮的气动步进电机被设计成三个驱动活塞单元和一个轮旋转器.
- 使用压缩空气产生的双向步进运动,顺序激活活塞.
- 进行了实验来描述扭矩,速度,闭环控制和MRI兼容性.
主要成果:
- 发动机在80 PSI时达到1300 mNm的最大连续扭矩.
- 闭环位置跟踪显示稳定状态误差为0.81±0.52度.
- 磁力共振成像相容性测试显示,图像质量有微不足道的恶化.
结论:
- 开发的气动步进电机是MRI引导机器人应用的可行和有效的执行器.
- 电机的性能和MRI兼容性支持其在先进的干预程序中使用.
- 这一创新有助于开发更复杂的机器人系统,用于MRI扫描仪.
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