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Actuators 2017, 6(4), 29; doi:10.3390/act6040029

Quantification of Force and Torque Applied by a High-Field Magnetic Resonance Imaging System on an Ultrasonic Motor for MRI-Guided Robot-Assisted Interventions

1
Institute of Biomaterials and Biomedical Engineering, The University of Toronto, Rosebrugh Building, 164 College Street, Room 407, Toronto, ON M5S3G9, Canada
2
The Hospital for Sick Children, Division of Neurosurgery, 555 University Avenue, Room 1504, Toronto, ON M5G1X8, Canada
3
Department of Mechanical and Industrial Engineering, The University of Toronto, 5 King’s College Road, Toronto, ON M5S3G8, Canada
*
Author to whom correspondence should be addressed.
Received: 13 August 2017 / Revised: 18 September 2017 / Accepted: 28 September 2017 / Published: 30 September 2017
(This article belongs to the Special Issue MEMS-based Actuators)
View Full-Text   |   Download PDF [2174 KB, uploaded 30 September 2017]   |  

Abstract

The risk of accidental dislodgement of robot-operated surgical mechanisms can lead to morbidity or mortality. The force and torque applied by a 3.0-tesla scanner on an ultrasonic motor are not fully known. The force and torque may displace the motor, which is not fully magnetic resonance imaging (MRI)-compatible but can be safely used in MR environments. A suspension apparatus was designed to measure the angles of deflection and rotation applied to the motor by MR magnetic fields. Three orientations and two power states of the motor were assessed inside the MR bore. The displacement force and torque were measured at eight locations with respect to the bore. The displacement force on the motor from 10 cm outside the magnet bore to 20 cm inside the bore ranged from 3 to 7 gF. The experimental measurements are in agreement with the theoretical values. Running the motor altered the force by 1 gF. The force does not significantly change when the MRI scanner is on. Considerable displacement force is applied to the motor, and no deflection torque is observed. Quantified values can be used to solve dynamic equations for robotic mechanisms intended for MRI-guided operations. View Full-Text
Keywords: deflection torque; displacement force; magnetic resonance imaging (MRI); ultrasonic motor; MRI-compatibility deflection torque; displacement force; magnetic resonance imaging (MRI); ultrasonic motor; MRI-compatibility
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Shokrollahi, P.; Drake, J.M.; Goldenberg, A.A. Quantification of Force and Torque Applied by a High-Field Magnetic Resonance Imaging System on an Ultrasonic Motor for MRI-Guided Robot-Assisted Interventions. Actuators 2017, 6, 29.

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