Abstract #1858
Quantification of Ultrasonic Motor Behaviour in MRI
Peyman Shokrollahi 1 , Wendong Wang 2 , Adam C. Waspe 3 , James M. Drake 3 , and Andrew A. Goldenberg 1
1
Institute of Biomaterials and Biomedical
Engineering, University of Toronto, Toronto, ON, Canada,
2
School
of Mechanical Engineering, Northwestern Polytechnical
University, Xi'an, Shaanxi, China,
3
Hospital
for Sick Children, Toronto, ON, Canada
Obtaining haptic information and controlling the force
produced by actuators is one of the key issues in
performing a successful operation by surgical robots.
The behaviour of MRI-compatible actuators such as
ultrasonic motors (USM) in an MR environment needs to be
characterized. A one DoF MR-compatible robot was built
to measure the torque produced by a USM. The axial force
was measured with a piezo-resistive sensor through
transferring the torque using a screw. Inside and
outside MR-environment forces were compared through
statistical analysis. The measured force was almost
doubled while the motor was running during the MR scan.
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