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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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