<i>MRI-VisAct</i>: a Bowden-cable-driven MRI-compatible series viscoelastic actuator

Şentürk, Yusuf Mert; Patoğlu, Volkan

doi:10.1177/0142331217730429

Cited by 6 publications

(3 citation statements)

References 36 publications

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“…Several actuation approaches have been proposed for such robots, including pneumatic, [10][11][12][13][14][15][16][17][18] hydraulic, [19][20][21][22][23][24][25][26][27] piezoelectric, [28][29][30][31][32][33][34][35][36][37][38][39][40][41] and other actuation techniques. [42][43][44][45][46][47] An important advantage of MRI in the context of minimally invasive thermal therapy is the ability to make 3D spatial measurements of temperature, 48 that are automatically registered with images of relevant brain anatomy. One such thermal therapy approach is Laser Interstitial Thermal Therapy (LITT), in which a laser ablation probe is introduced through a burr hole in the skull.…”

Section: Introductionmentioning

confidence: 99%

Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain

Grillo

Peters

Esser

et al. 2023

Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling

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This paper advances a new paradigm of minimally invasive neurosurgical interventions through skull foramina, which promise to improve patient outcomes by reducing postoperative pain and recovery times, and perhaps even complication rates. The foramen ovale, a small opening in the base of the skull, is currently used to insert recording electrodes into the brain for diagnosing epilepsy and as a pathway for ablating the trigeminal nerve for facial pain. An MRI-compatible robotic platform to position neurosurgical tools along a prescribed trajectory through the foramen ovale can enable access to deep brain targets for diagnosis or intervention. In this paper, we describe design goals and constraints, determined both heuristically and empirically, for such a robotic system. These include the space available within the scanner around the patient, the set of possible needle angles of approach to the foramen ovale, patient positioning options within the scanner, and the force needed to tilt the needle to desired angles. These design considerations can be used to inform future work on the design of MRI-conditional robots to access the brain through the foramen ovale.

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Section: Introductionmentioning

confidence: 99%

Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain

Grillo

Peters

Esser

et al. 2023

Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling

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“…Recent flexible Bowden cable-based actuation offers a viable idea for building lightweight knee assistive devices. Especially, there are plenty of applications in bionic robots [6], neurosurgical robots [7], rehabilitation robots [8][9][10], and function augmentation robots [11,12], which used the Bowden cable to implement these devices and functions [13,14].…”

Section: Introductionmentioning

confidence: 99%

Control of flexible knee joint exoskeleton robot based on dynamic model

Liu

Zhou

et al. 2022

Robotica

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Summary The knee joint plays a significant role in ground clearness, which is a crucial subtask of normal walking and avoiding falls. While post-stroke survivors are often faced with muscle weakness during walking, which leads to inadequate knee flexion. The lack of ground clearance caused by inadequate knee flexion will severely impede walking, increase metabolic exertion, and increase the risk of falls. A compliant exoskeleton robot possesses more favorable edges than other rigid ones in lightweight, safety, sense of comfort, and so on. We developed a new type of soft exoskeleton robot to assist the knee joint to achieve desired movements with Bowden cable transmitting force and torque. With the agonist–antagonist driving method, like a group of muscles working, we have explored dual-motors structure to realize the knee flexion function. It has built a standard dynamic model to analyze stability and realize the control law. We have conducted simulation and prototype experiments to verify the feasibility and usefulness of our method. The results show that the device can compensate for the lack of the knee joint driving force and realize the reference movement. Finally, we concluded that our method is a desirable way, and the scheme could improve the knee flexion ability and clearing ground.

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“…Motor current could also be used to estimate motor torque, however, the torque provided by the motor alone is too small to fulfill the application requirement. The harmonic drive is often adopted to play the role in amplifying the motor's output torque [18,19]. As a consequence, it is essential to model the nonlinearities of harmonic drive in order to obtain more accurate torque estimation of SVAs.…”

Section: Introductionmentioning

confidence: 99%

Improvement of Torque Estimation for Series Viscoelastic Actuator Based on Dual Extended Kalman Filter

et al. 2021

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Adding damping such as viscoelastic element in series elastic actuators (SEA) can improve the force control bandwidth of the system and suppression of high frequency oscillations induced by the environment. Thanks to such advantages, series viscoelastic actuators (SVA) have recently gained increasing research interests from the community of robotic device design. Due to the inconvenience of mounting torque sensors, employing the viscoelastic elements to directly estimate the output torque is of great significance regarding the real-world applications of SVA. However, the nonlinearity and time-varying properties of viscoelastic materials would degrade the torque estimation accuracy. In such a case, it is paramount to simultaneously estimate the output torque state and viscoelastic model coefficients in order to enhance the torque estimation accuracy. To this end, this paper first completed the design of a rubber-based SVA device and used the Zenner linear viscoelastic model to model the viscoelastic element of the rubber. Subsequently, this paper proposed a dual extended Kalman filter- (DEFK) based torque estimation method to estimate the output torque and viscoelastic model coefficients simultaneously. The noisy observations of two Kalman filters were provided by motor current-based estimated torque. Moreover, the dynamic friction of harmonic drive of the designed SVA was modeled and compensated to enhance the reliability of current-based torque estimation. Finally, a number of experiments were carried out on SVA, and the experimental results confirmed the DEFK effectiveness of improving torque estimation accuracy compared to only-used rubber and only-used motor current torque estimation methods. Thus, the proposed method could be considered as an effective alternative approach of torque estimation for SVA.

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MRI-VisAct: a Bowden-cable-driven MRI-compatible series viscoelastic actuator

Cited by 6 publications

References 36 publications

Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain

Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain

Control of flexible knee joint exoskeleton robot based on dynamic model

Improvement of Torque Estimation for Series Viscoelastic Actuator Based on Dual Extended Kalman Filter

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