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
Institute of Biomaterials and Biomedical
Engineering, University of Toronto, Toronto, ON, Canada,
of Mechanical Engineering, Northwestern Polytechnical
University, Xi'an, Shaanxi, China,
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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