Key result
The proposed MR safe three-cylinder hydraulic motor achieved continuous bidirectional rotation with unlimited range, fast step response (<40 ms), high payload, and precise positional control.
Why the study?
MRI-guided interventions require precise tele-manipulation of instruments, but there is a lack of MR safe actuators that provide high-fidelity robotic manipulation.
A novel three-cylinder hydraulic motor provides continuous bidirectional rotation and rapid force transmission, enabling high-fidelity MR-safe robotic teleoperation for MRI-guided cardiac electrophysiology.
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May enable MR-safe robotics for MRI-guided cardiac EP; leaves open translation beyond animal models.
Magnetic resonance imaging (MRI) guided intervention has drawn increasing attention over the last decade. It is accredited to the capability of monitoring any physiological change of soft tissue with the high-contrast MR images. This also gives rise to the demand for precise tele-manipulation of interventional instruments. However, there is still lack of choices of MR safe actuators that provide high-fidelity robot manipulation. In this letter, we present a three-cylinder hydraulic motor using rolling-diaphragmsealed cylinders, which can provide continuous bidirectional rotation with unlimited range. Both kinematics and dynamics models of the presented motor were studied, which facilitate its overall design optimization and position/torque control. Motor performance, such as step response, frequency response, and accuracy, were experimentally evaluated. We also integrate the motor into our catheter robot prototype designed for intra-operative MRI-guided cardiac electrophysiology (EP), which can provide full degree-of-freedom and precise manipulation of a standard EP catheter.
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Dong et al. (2019) studied this question. Three-cylinder hydraulic motor was evaluated on Motor performance (step response, accuracy, payload). The proposed MR safe three-cylinder hydraulic motor achieved continuous bidirectional rotation with unlimited range, fast step response (<40 ms), high payload, and precise positional control.
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