Abstract:
Magnetic resonance (MR) conditional actuators and encoders are the key components for MR-guided robotic systems. In this article, we present the modeling and control of our MR-safe pneumatic radial inflow motor and encoder. A comprehensive model is developed that considers the primary dynamic elements of the system, including: 1) motor dynamics, 2) pneumatic transmission line dynamics, and 3) valve dynamics. After model validation, we present a simplified third order model that facilitates design of a first order sliding mode controller (TO-SMC). Finally, the motor hardware is tested in a 7T MRI. No image distortion or artifacts were observed. We posit the MR-safe motor and dynamic model will lower the entry barriers for researchers interested in MR-guided robots and promote wider adoption of MR-guided robotic systems.
摘要:
磁共振(MR)条件执行器和编码器是MR引导机器人系统的关键组件。在这篇文章中,我们介绍了MR安全气动径向流入电机和编码器的建模和控制。开发了一个综合模型,该模型考虑了系统的主要动态元素,包括:1)电机动力学,2)气动传输线动力学,和3)阀门动力学。在模型验证之后,我们提出了一个简化的三阶模型,便于一阶滑模控制器(TO-SMC)的设计。最后,电机硬件在7TMRI中进行测试。没有观察到图像失真或伪影。我们认为MR安全电机和动态模型将降低对MR引导机器人感兴趣的研究人员的进入壁垒,并促进MR引导机器人系统的更广泛采用。