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Magnetic resonance imaging (MRI) has gained popularity over standard imaging modalities like ultrasound and computed tomography because of its ability to provide excellent soft-tissue contrast. However, due to the working principle of MRI, a number of conventional force sensors are not compatible. One popular solution is to develop a fiber-optic force sensor. However, the measurements along the principal...
The neural mechanisms of fine motor control and recovery, e.g. after a stroke, are not fully understood, nor how these are influenced by different types of motor therapies, leaving potential for optimization of current rehabilitation strategies. This paper presents the development and evaluation of a novel robotic tool for fMRI-based neuroscience studies allowing to investigate the neural mechanisms...
The field of medical nanorobotics exploits nanometer-scale components and phenomena to enable new or at least to enhance existing medical diagnostic and interventional procedures. The best route for such miniature robots to access the various regions inside the human body is certainly the vascular network which is constituted of nearly 100,000 km of blood vessels. The variations in blood vessels diameters...
The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas of cancer research. This paper proposes a precise model of a therapeutic microrobot magnetically steered in blood vessels. This modeling approach takes into account the non-Newtonian behavior of blood, as well as wall effect on the blood's profile and robot-to-wall interaction forces...
Magnetic Resonance Targeting (MRT) uses MRI for gathering tracking data to determine the position of microscale entities with the goal of guiding them towards a specific target in the body accessible through the vascular network. At full capabilities, a MRT platform designed to treat a human would consist of a clinical MRI scanner running special algorithms and upgraded to provide propulsion gradient...
Minimally invasive surgery (MIS) and robot surgery have opened new ways to perform surgical operations in a safer and simultaneously faster manner. In an effort to follow this minimally invasive trend, this paper presents the feasibility study of a novel fibre-optic catheter prototype. This prototype sensor has the ability to measure forces from the sides and tip. Classification of forces from multiple...
In this paper, the design of a novel MRI-compatible torque sensor is proposed. The sensor is based on an optical measurement, with a particular architecture to provide a very low cross-sensitivity. Its structure allows to simultaneously tune the sensor stiffness and the measurement amplitude of the optical sensor. To do so, kinematic singularities of parallel structures are used as well as the principles...
In this paper, we present the design of a new fMRI compatible haptic interface with 3DOFs, based on electrical DC actuation, for the study of brain mechanisms of human motor control. In order to evaluate the validity of the proposed solution, we performed some preliminary experiments with a single degree of freedom device to test the compatibility with the fMRI environment. The 1DOF design was extended...
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