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research article

Actuation Methods for Applications in MR Environments

Gassert, Roger  
•
Yamamoto, Akio
•
Chapuis, Dominique  
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2006
Concepts in Magnetic Resonance Part B: Magnetic Resonance Engineering

The choice of an adequate actuation method is a central issue in the development of any mechatronic device and strongly determines the dynamic performances of the system. This choice is particularly difficult for robotic systems working within a magnetic resonance (MR) environment because of the safety and compatibility constraints imposed by the high magnetic field, switching gradients, electromagnetic pulses, and sensitive measuring equipment involved. This article analyzes actuation methods for robotic systems to be used within a magnetic resonance environment, such as systems for diagnostic and interventional MRI, neuroscience studies during functional MRI, and diagnostic fMRI. In the case of functional MRI, actuation is also required during imaging, whereas current MR-compatible interventional systems are typically moved between imaging phases. Our analysis is based on a variety of actuation principles that we have tested both for MR compatibility and for the quality of force feedback that can be realized, including hydrostatic, belt, and cable transmissions as well as electrostatic and piezoelectric actuators. The results are completed with developments of other groups. A good solution to a given application often involves a combination of several actuation principles. A synthesis of characteristics and three comparative tables aid in the choice of an adequate actuation method for a given task or application. © 2006 Wiley Periodicals, Inc. Concepts Magn Reson 29B: 191-209, 2006.

  • Details
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Type
research article
DOI
10.1002/cmr.b.20070
Web of Science ID

WOS:000241550200005

Author(s)
Gassert, Roger  
Yamamoto, Akio
Chapuis, Dominique  
Dovat, Ludovic
Bleuler, Hannes  
Burdet, Etienne
Date Issued

2006

Published in
Concepts in Magnetic Resonance Part B: Magnetic Resonance Engineering
Volume

29B

Issue

4

Start page

191

End page

209

Subjects

[MEDICAL]

•

MR-compatible robot

•

magnetic resonance imaging (MRI)

•

functional MRI (fMRI)

•

actuator

•

brake

•

mechanical transmission

•

Lorentz force

•

electromagnetic

•

ultrasonic

•

piezoelectric

•

electrostatic

•

electroactive polymers

•

electrorheological fluid

•

hydrostatic

•

pneumatic

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

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LSRO  
Available on Infoscience
October 12, 2006
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/235188
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