Design of an MRI compatible haptic interface

Turkseven, Melih; Ueda,

doi:10.1109/iros.2011.6048770

Cited by 7 publications

(6 citation statements)

References 12 publications

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“…Pneumatically driven robots designed to function in MRI often include long transmission lines that would introduce a significant uncertainty in pressure estimation [1], [4]. Force measurements have recently become available in MRI with the use of plastic optical sensors [8], [35]. Position measurement is relatively easy to achieve as MRI-compatible …”

Section: Discussionmentioning

confidence: 99%

“…Unfortunately, standard models cannot fully characterize complex phenomena such as compressible flow through transmission lines, heat transfer, frictional losses or leakage in the equipment. One of the most influential factors is the presence of long transmission lines between the pressure source and the actuator, often found in pneumatically operated medical robots, including those that have been studied in the authors' laboratory [7], [8]. Medical robots designed to be operated in Magnetic Resonance Imaging (MRI) rooms are restricted to be made of non-ferrous materials to prevent magnetic interference [9], [10].…”

Section: Introductionmentioning

confidence: 99%

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An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

Turkseven

Ueda

2017

IEEE/ASME Trans. Mechatron.

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Pneumatic systems have regained popularity in robotics, with the new advances in the electronic valves that have enabled precise position control of pneumatic cylinders. Recently, the use of pneumatic systems has been extended to force and impedance control. Such new applications include tele-operated medical robotic systems with pneumatic transmission lines where more advanced system modeling and control is required. Pressures of a pneumatic actuator are commonly used to improve control performance. When direct pressure measurement is not available or not desirable for cost effective implementation, actuator pressures can be estimated by a model-based observer. This paper introduces a nonlinear pressure observer based on force and displacement sensing. The proposed algorithm allows to obtain asymptotic stability of pressure estimation error with an improved convergence. The presented method does not require a transmission line model and guarantees bounded stability in the presence of disturbance in force measurements, hence it is able to provide a robust pressure estimation. The effectiveness of the proposed observer is confirmed by performing force control experiments in a tele-operated pneumatic system. Index Terms-MRI-compatibility, pressure observer, teleoperated systems.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

Turkseven

Ueda

2017

IEEE/ASME Trans. Mechatron.

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“…Tan et al [29] utilized intensity modulation of optical fibers for constructing an MRI-compatible force sensor. By utilizing optical fibers, Su et al [30,31,32] developed force/torque sensors for prostate needle placement and needle insertion. Turkseven and Ueda [33] also utilized an optical fiber for sensing and feeding back the force information in robotic surgeries.…”

Section: Related Workmentioning

confidence: 99%

A Force-Visualized Silicone Retractor Attachable to Surgical Suction Pipes

Watanabe

Koyama

Yoneyama

et al. 2017

Sensors

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This paper presents a force-visually-observable silicone retractor, which is an extension of a previously developed system that had the same functions of retracting, suction, and force sensing. These features provide not only high usability by reducing the number of tool changes, but also a safe choice of retracting by visualized force information. Suction is achieved by attaching the retractor to a suction pipe. The retractor has a deformable sensing component including a hole filled with a liquid. The hole is connected to an outer tube, and the liquid level displaced in proportion to the extent of deformation resulting from the retracting load. The liquid level is capable to be observed around the surgeon’s fingertips, which enhances the usability. The new hybrid structure of soft sensing and hard retracting allows the miniaturization of the retractor as well as a resolution of less than 0.05 N and a range of 0.1–0.7 N. The overall structure is made of silicone, which has the advantages of disposability, low cost, and easy sterilization/disinfection. This system was validated by conducting experiments.

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“…Takahashi et al developed an optical 6-axis force sensor with elastic frames to be used in investigations of the brain mechanism [6]. Turkseven et al presented a 1-DOF MRI-compatible force sensor that can be converted into a multi-DOF force sensor [7]. Tokuno et al developed a 1-DOF force sensor with an optical lens [8].…”

Section: Related Researchmentioning

confidence: 99%

MRI-Compatible Grasping Force Sensor With an Inclined Double Parallel Structure Using Fiber Optics

Arata

Terakawa

Fujimoto

et al. 2012

ASME/ISCIE 2012 International Symposium on Flexible Automation

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Investigations of human motor control using functional magnetic resonance imaging (fMRI) are increasingly receiving attention, with applications in fields such as motor learning and rehabilitation. In these neuroscience studies, force and position sensors are used to control haptic devices and safely interact with the human motion in an MR environment. However, conventional force sensors such as strain gauges are known to cause electromagnetic interference originating from electrical cables, transducers, and electronics. Light transmission through optical fibers is one alternative that avoids these problems. Since optical fibers do not produce electromagnetic noise, they can be used in an MR environment without electromagnetic interference. In this paper, we propose a novel design of an MRI-compatible grasping force sensor based on these principles. The sensor structure was designed to fit into an MRI scanner with its inclined double parallel mechanism, and was specifically adapted to precision grip tasks. This paper presents the sensor design and preliminary characterization in a non-MR environment.

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Design of an MRI compatible haptic interface

Cited by 7 publications

References 12 publications

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

A Force-Visualized Silicone Retractor Attachable to Surgical Suction Pipes

MRI-Compatible Grasping Force Sensor With an Inclined Double Parallel Structure Using Fiber Optics

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