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Actuators that are powered, imaged, and controlled by magnetic resonance (MR) scanners could inexpensively provide wireless control of MR-guided robots. Similar to traditional electric motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. Generating maximum motor torque while avoiding instabilities and slippage requires...
Actuators that are powered, imaged, and controlled by Magnetic Resonance (MR) scanners offer the potential of inexpensively providing wireless control of MR-guided robots. Similar to traditional electric motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. The MR scanner can control three orthogonal gradient fields...
This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability...
Concentric tube robots are a novel class of continuum robots that are constructed by combining precurved elastic tubes such that the overall shape of the robot is a function of the relative rotations and translations of the constituent tubes. Frictionless kinematic and quasistatic force models for this class of robots have been developed that incorporate bending and twisting of the tubes. Experimental...
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