Embedded Files
MRI Safe
MRI Safe
Hybrid-Fluid
Hybrid-Fluid
Actuator
Actuator
Nonmagnetic Parts
Nonmagnetic Parts
Hydraulic Incompressibility
Hydraulic Incompressibility
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Pneumatic Pressurization
Pneumatic Pressurization
Cable-Driven Actuator
Cable-Driven Actuator
Background
Background
Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) scanners use strong magnetic fields to image a patient’s body, enabling surgeons to perform sensitive and minimally-invasive operations through robotic arm assisted surgery in these scanners.
Many modern robots utilise robust electric motors for precise control. However, a CT/MRI compatible robotic arm must be constructed from non-magnetic materials.
We have developed a hydraulic actuator which bridges the power transmission between the electric motor, placed far outside the magnetic field of the scanner, and the robot arm, which must be near the scanner.
Multiple copies of this actuator will be used by the sponsor to support their research into intraoperative CT/MRI robotic surgery.
Our Objectives
Enable a transmission distance of 3 meters between motors and CT/MRI area
Smooth motion, low backlash, low hysteresis
Provide at least 90º of rotational motion
Manufacturable through standard shop tools and 3D printing
Automated pressurization system
Final Design
Final Design
Hybrid-Fluid Actuator
Hybrid-Fluid Actuator
The final design consists of two main components: the rotary actuator and fluid transmission line. The fluid line connects two identical actuators. One converts input rotary motion to linear motion, and the other takes the linear motion from the fluid transmission and converts it back to output rotary motion on a robotic arm joint.
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