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Mechanical Design and Fabrication of a Low-Cost, Modular, Mobile Gantry for Non-Invasive Medical Applications

[+] Author Affiliations
Joshua Gafford, Johannes Schneider

Massachusetts Institute of Technology, Cambridge, MA

Paper No. DETC2011-47027, pp. 569-577; 9 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper details the design and development of a low-cost, human-sized, mobile, mechanical gantry for potential use in non-invasive medical imaging procedures. The gantry features two independently-actuated aluminum rings, each capable of supporting a variety of different medical instruments. The gantry described herein was designed to integrate with an existing flat-panel Volume Computed Tomography (CT) scanner to create a hybrid Optical Tomography/Computed Tomography setup to facilitate image coregistration. However, the gantry also has potential utility in MRI coregistration, low-cost CT, laser therapy, and any other applications that necessitate precise, stepwise 360-degree rotary motion around a patient. The total production cost for the gantry, including stock, labor, and assembly, was ∼$15,000. Preliminary tests show that the gantry in open-loop has a positional repeatability to within 70 μm.

Copyright © 2011 by ASME



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