000085467 001__ 85467
000085467 005__ 20181203020416.0
000085467 0247_ $$2doi$$a10.1109/TMECH.2006.871897
000085467 02470 $$2DAR$$a8397
000085467 02470 $$a000236807900013$$2ISI
000085467 037__ $$aARTICLE
000085467 245__ $$aMRI/fMRI-Compatible Robotic System With Force Feedback for Interaction With Human Motion
000085467 269__ $$a2006
000085467 260__ $$c2006
000085467 336__ $$aJournal Articles
000085467 520__ $$aThis paper presents a robotic system that is compatible with anatomical magnetic resonance imaging (MRI) as well as with the more sensitive functional MRI (fMRI), and can safely and smoothly interact with humanmotion during the imaging. The system takes advantage of the electromagnetic shield that encloses the MR room by placing the interfering or sensitive components outside the shield, in the control room. This eliminates the need for extensive compatibility testing before each use. The concept is based on a conventional actuator placed outside the scanner room and a hydrostatic connection to transmit force and motion to an MR-compatible slave placed next to or inside the MR scanner. A force sensor, based on reflected light intensity measurement over optical fibers, measures interaction forces with the human subject. A robotic interface for wrist motion demonstrates the MR compatibility of this concept and the possibility to interact with various dynamic environments during functional imaging. This technology provides a basis for applications such as assistive devices for interventional MRI and haptic interfaces for neuroscience investigations.
000085467 6531_ $$a[MEDICAL]
000085467 6531_ $$arobotics
000085467 6531_ $$amicroengineering
000085467 6531_ $$afuntional MRI (fMRI)
000085467 6531_ $$aforce feedback
000085467 6531_ $$ahaptic interface
000085467 6531_ $$aMR-compatible sensors and actuators
000085467 6531_ $$amagnetic resonance imaging (MRI)
000085467 6531_ $$aneuroscience
000085467 6531_ $$arobotics
000085467 700__ $$0240025$$g113795$$aGassert, Roger
000085467 700__ $$0241084$$g102772$$aMoser, Roland
000085467 700__ $$aBurdet, Etienne
000085467 700__ $$aBleuler, Hannes$$g104561$$0240027
000085467 773__ $$j11$$tIEEE/ASME Transactions on Mechatronics$$k2$$q216-224
000085467 909C0 $$0252016$$pLSRO
000085467 909CO $$ooai:infoscience.tind.io:85467$$pSTI$$particle
000085467 937__ $$aLSRO-ARTICLE-2006-005
000085467 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000085467 980__ $$aARTICLE