开源磁流变安全气动径向流入电机和编码器(PRIME):设计和制造指南*

Anthony L. Gunderman, Milad Azizkhani, Saikat Sengupta, K. Cleary, Yue Chen
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引用次数: 1

摘要

用于核磁共振引导机器人干预的执行器和编码器受到严格的要求,以确保患者安全和核磁共振成像质量。在本文中,我们提出了一个开源的计算机辅助设计(CAD)我们的磁流变安全气动径向流入电机和编码器(PRIME)。PRIME是一种参数化设计的电机,可根据各种mr引导机器人程序的扭矩和速度要求进行可扩展性。该设计由五个主要的可修改参数组成,这些参数定义了整个电机的几何形状。电机的所有组件都是3D打印或现成的。正交编码是使用3D打印外壳和四根光纤电缆实现的。通过实验验证了所提设计的性能。据我们所知,这是该领域第一个开源的mr安全气动马达和编码器。我们的目标是分享设计和制造指南,以降低对mr引导机器人感兴趣的研究人员的进入门槛。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines*
Actuators and encoders used in MR-guided robotic interventions are subject to strict requirements to ensure patient safety and MR imaging quality. In this paper, we present an open source computer aided design (CAD) of our MR-safe Pneumatic Radial Inflow Motor and Encoder (PRIME). PRIME is a parametrically designed motor that enables scalability based on torque and speed requirements for a wide range of MR-guided robotic procedures. The design consists of five primary modifiable parameters that define the entire motor geometry. All components of the motor are either 3D printed or available off-the-shelf. Quadrature encoding is achieved using a 3D printed housing and four fiber optic cables. Benchtop experiments were performed to validate the performance of the proposed design. To the best of our knowledge, this is the first open source MR-safe pneumatic motor and encoder in the field. We aim to share the design and manufacturing guidelines to lower the entry barriers for researchers interested in MR-guided robotics.
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