An fMRI compatible haptic interface with pneumatic actuation

Yu, Ningbo; Murr, W.; Blickenstorfer, Armin; Kollias, Spyros; Riener, Robert

doi:10.1109/icorr.2007.4428504

Cited by 32 publications

(26 citation statements)

References 11 publications

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“…The force sensor consists of three optical fibers, one with emitting laser light and two with receiving laser light [19]. When a pull or push force is applied to the handbar, the emitting fiber is slightly displaced, thus, changing the light intensities in the two receiving fibers.…”

Section: Fig 2 Concept Of Fluidic-actuated Robots To Work With Fmri mentioning

confidence: 99%

“…A mineral water phantom is to be scanned in each of the following experimental conditions: 1) No device, in which the robotic system is not placed into the MRI room; 2) silent device, in which the robotic interface is at the working position but not in operation; 3) functioning device, in which the robotic system is at the working position and in operation. Two methods are taken to evaluate whether artifacts have been introduced into the fMRI images [19]. The signal-to-noise ratio (SNR) in dB [21] 20 log 10 µ 0:66 £ mean signal Average of noise region standard deviations ¶ quantitatively estimates whether additional noise has been introduced into fMRI procedures by the robot.…”

Section: Fig 3 Composition Of the Fmri-compatible Haptic Interface Dmentioning

confidence: 99%

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fMRI-Compatible Robotic Interfaces with Fluidic Actuation

Hollnagel

Blickenstorfer

et al. 2008

Robotics: Science and Systems IV

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Abstract-Actuation is a major challenge in the development of robotic systems intended to work in functional Magnetic Resonance Imaging (fMRI) procedures, due to the high magnetic fields and limited space in the scanner. Fluidic actuators can be made fMRI-compatible and are, thus, promising solutions. In this work we developed two robotic interface devices, one with hydraulic and another with pneumatic actuation, to control one degree-of-freedom translational movements of a user that performs fMRI tasks. Due to the fMRI-compatibility restrictions, special materials were used for the endeffector which works in the scanner bore, and active components such as the control valves and pressure sensors, had to be placed far away from the endeffector with long transmission lines in between. Therefore, the two fMRI-compatible setups differed from conventional fluidic actuation systems and brought control difficulties. Both systems have been proved to be fMRI-compatible and yield no image artifacts in a 3T scanner. Passive as well as active subject movements were realized by classical position and impedance controllers. With the hydraulic system we achieved smoother movements, higher position control accuracy and improved robustness against force disturbances than with the pneumatic system. In contrast, the pneumatic system was back-drivable, showed faster dynamics with relatively low pressure, and allowed force control. Furthermore, it is easier to maintain and does not cause hygienic problems after leakages. In general, pneumatic actuation is favorable for fast or force-controlled applications, whereas hydraulic actuation is recommended for applications that require high position accuracy, or slow and smooth movements.

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Section: Fig 2 Concept Of Fluidic-actuated Robots To Work With Fmri mentioning

confidence: 99%

Section: Fig 3 Composition Of the Fmri-compatible Haptic Interface Dmentioning

confidence: 99%

fMRI-Compatible Robotic Interfaces with Fluidic Actuation

Hollnagel

Blickenstorfer

et al. 2008

Robotics: Science and Systems IV

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“…Figure 1 shows the percentage difference between images under different conditions with the baseline image. Force sensing can also be achieved by using hydraulics/pneumatics (Liu et al, 2000, Yu et al, 2007. In their work, Gassert and colleagues (Gassert et al, 2006) presented an MR compatible 1-DoF force sensor based on transmission of hydrostatic force and motion which is located outside the MRI room, where traditional electronics can then be used.…”

Section: Sensorsmentioning

confidence: 99%

MRI Compatible Robot Systems for Medical Intervention

Li¹,

Mazilu²,

Kapoor³

et al. 2010

Advances in Robot Manipulators

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“…A shielded cable connects the sensors with the processing circuit. Both the optical encoder and the resistive potentiometer (which works with low dc current only) are MRI-compatible [26].…”

Section: Force and Position Sensors Signal Transmissionmentioning

confidence: 99%

Comparison of MRI-Compatible Mechatronic Systems With Hydrodynamic and Pneumatic Actuation

Hollnagel

Blickenstorfer

et al. 2008

IEEE/ASME Trans. Mechatron.

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The strong magnetic fields and limited space make it challenging to design the actuation for mechatronic systems intended to work in MRI environments. Hydraulic and pneumatic actuators can be made MRI-compatible and are promising solutions to drive robotic devices inside MRI environments. In this paper, two comparable haptic interface devices, one with hydrodynamic and another with pneumatic actuation, were developed to control one-degree-of-freedom translational movements of a user performing functionalMRI(fMRI) tasks. The cylinders were made of MRI-compatible materials. Pressure sensors and control valves were placed far away from the end-effector in the scanner, connected via long transmission lines. It has been demonstrated that both manipulandum systems were MRI-compatible and yielded no artifacts to fMRI images in a 3-T scanner. Position and impedance controllers achieved passive as well as active subject movements. With the hydrodynamic system we have achieved smoother movements, higher position control accuracy, and improved robustness against force disturbances than with the pneumatic system. In contrast, the pneumatic system was back-drivable, showed faster dynamics with relatively low pressure, and allowed force control. Furthermore, it is easier to maintain and does not cause hygienic problems after leakages. In general, pneumatic actuation is more favorable for fast or force-controlled MRI-compatible applications, whereas hydrodynamic actuation is recommended for applications that require higher position accuracy, or slow and smooth movements. Abstract-The strong magnetic fields and limited space make it challenging to design the actuation for mechatronic systems intended to work in MRI environments. Hydraulic and pneumatic actuators can be made MRI-compatible and are promising solutions to drive robotic devices inside MRI environments. In this paper, two comparable haptic interface devices, one with hydrodynamic and another with pneumatic actuation, were developed to control one-degree-of-freedom translational movements of a user performing functional MRI (fMRI) tasks. The cylinders were made of MRI-compatible materials. Pressure sensors and control valves were placed far away from the end-effector in the scanner, connected via long transmission lines. It has been demonstrated that both manipulandum systems were MRI-compatible and yielded no artifacts to fMRI images in a 3-T scanner. Position and impedance controllers achieved passive as well as active subject movements. With the hydrodynamic system we have achieved smoother movements, higher position control accuracy, and improved robustness against force disturbances than with the pneumatic system. In contrast, the pneumatic system was back-drivable, showed faster dynamics with relatively low pressure, and allowed force control. Furthermore, it is easier to maintain and does not cause hygienic problems after leakages. In general, pneumatic actuation is more favorable for fast or force-controlled MRI-compatible applications, whereas hydrodynamic a...

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An fMRI compatible haptic interface with pneumatic actuation

Cited by 32 publications

References 11 publications

fMRI-Compatible Robotic Interfaces with Fluidic Actuation

fMRI-Compatible Robotic Interfaces with Fluidic Actuation

MRI Compatible Robot Systems for Medical Intervention

Comparison of MRI-Compatible Mechatronic Systems With Hydrodynamic and Pneumatic Actuation

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