Abstract
Magnetic resonance imaging allows for visualizing detailed pathological and morphological changes of soft tissue. MR-conditional actuations have been widely investigated for development of image-guided and robot-assisted surgical devices under the Magnetic resonance imaging (MRI). This paper presents a simple design of MR-conditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox. Experimental studies were conducted to validate its dynamics performance. Maximum 800 mN m output torque is achieved. The motor accuracy independently varied by two factors: motor operating speed and step size, was also investigated. The motor was tested within a 3T Siemens MRI scanner (MAGNETOM Skyra, Siemens Medical Solutions, Erlangen, Germany) and a 3T GE MRI scanner (GE SignaHDx, GE Healthcare, Milwaukee, WI, USA). The image artifact and the signal-to-noise ratio (SNR) were evaluated for study of its MRI compliancy. The results show that the presented pneumatic stepper motor generated 2.35% SNR reduction in MR images. No observable artifact was presented besides the motor body itself. The proposed motor test also demonstrates a standard to evaluate the pneumatic motor capability for later incorporation with motorized devices used under MRI.
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22 August 2017
An erratum to this article has been published.
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Acknowledgments
This work was supported by National Institutes of Health (NIH) U41-RR019703, Dr. Richard J. Schlesinger Grant, and The Croucher Foundation Fellowship.
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Associate Editor Agata A. Exner oversaw the review of this article.
Yue Chen and Ka-Wai Kwok: joint first author.
An erratum to this article is available at https://doi.org/10.1007/s10439-017-1890-9.
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Chen, Y., Kwok, KW. & Tse, Z.T.H. An MR-Conditional High-Torque Pneumatic Stepper Motor for MRI-Guided and Robot-Assisted Intervention. Ann Biomed Eng 42, 1823–1833 (2014). https://doi.org/10.1007/s10439-014-1049-x
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DOI: https://doi.org/10.1007/s10439-014-1049-x