Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).

MR 安全气动径向流入电机和编码器 (PRIME) 的建模与控制 [J].

• 影响指数: 5.867
• 发表时间: 2024 Jun
• 来源期刊: IEEE ASME Trans Mechatron
• DOI: 10.1109/tmech.2023.3329296
• PMID: 38895598
• 文章类型: Journal Article
• 作者列表: Gunderman AL,Azizkhani M,Sengupta S,Cleary K,Chen Y

关键词: Control; magnetic resonance (MR) safe; modeling; pneumatic motor

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。