0

Full Content is available to subscribers

Subscribe/Learn More  >

Design and Manufacturing of Embedded Pneumatic Actuators for an MRI-Compatible Prostate Cancer Binary Manipulator

[+] Author Affiliations
Geneviève Miron, Alexandre Girard, Jean-Sébastien Plante, Martin Lepage

Université de Sherbrooke, Sherbrooke, QC, Canada

Paper No. DETC2012-71380, pp. 1133-1142; 10 pages
doi:10.1115/DETC2012-71380
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

Magnetic Resonance Imaging (MRI) compatible robots can assist physicians in precisely inserting biopsy needles or therapeutic instruments directly into millimeter-size tumors using MR imaging feedback. MRI systems although present a challenging environment, including high magnetic fields and limited space, making the development of MRI-compatible robots complex. This paper presents an MRI-compatible pneumatic actuation technology consisting of molded polymer structures with embedded air-muscle, operated in a binary fashion. While having good positioning accuracy, the technology presents advantages of compactness, perfect MRI-compatibility, simplicity, and low cost. Here we specifically report the design and validation of a transperineal prostate cancer manipulator prototype having 20 embedded air-muscles distributed in four star-like polymer structures. Structures are made of silicone elastomer, using lost-core injection molding. The molded compliant joints of the muscles eliminate sliding surfaces, for low motion hysteresis and good repeatability. A simple and effective two-level design method for polymer air-muscles is proposed, using a manipulator model and three muscle models: geometrical, finite elements and uniaxial analytic. Binary control of each air-muscle assures stability and accuracy with minimized costs and complexity. The manipulator is tested MRI-compatible with no effects on the signal-to-noise ratio and, with appropriate image feedback, reaches targets with repeatability and accuracy under 0.5 mm. The embedded approach reveals to be a key feature since it reduces hysteresis errors by a factor of 6.6 compared to a previous non-embedded version of the manipulator. The successful validation of this binary manipulator opens the door to a new design paradigm for low cost and highly capable pneumatic robots, specifically for the intra-MRI manipulation.

Copyright © 2012 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In