scholarly journals Erratum to: An MR-Conditional High-Torque Pneumatic Stepper Motor for MRI-Guided and Robot-Assisted Intervention

2017 ◽  
Vol 45 (10) ◽  
pp. 2487-2487
Author(s):  
Yue Chen ◽  
Ka-Wai Kwok ◽  
Zion Tsz Ho Tse
Keyword(s):  
Stepper Motor ◽  
Robot Assisted ◽  
Mr Conditional ◽  
High Torque ◽  
Mri Guided

Robot-assisted MRI-guided prostatic interventions

Robotica ◽  
2009 ◽  
Vol 28 (2) ◽  
pp. 215-234 ◽  
Author(s):  
Andrew A. Goldenberg ◽  
John Trachtenberg ◽  
Yang Yi ◽  
Robert Weersink ◽  
Marshall S. Sussman ◽  
...  
Keyword(s):  
Thermal Ablation ◽  
Pulse Sequences ◽  
Robot Assisted ◽  
Surgical Ablation ◽  
Image Guided ◽  
Surgical Tool ◽  
Mri Environment ◽  
Focal Ablation ◽  
Mri Guided ◽  
Magnetic Resonance Imaging Mri

SUMMARYThis paper reports on recent progress made toward the development of a new magnetic resonance imaging (MRI)-compatible robot-assisted surgical system for closed-bore image-guided prostatic interventions: thermal ablation, radioactive seed implants (brachytherapy), and biopsy. Each type of intervention will be performed with a different image-guided, robot-based surgical tool mounted on the same MRI-guided robot through a modular trocar. The first stage of this development addresses only laser-based focal ablation. The robot mechanical structure, modular surgical trocar, control architecture, and current stage of performance evaluation in the MRI environment are presented. The robot actuators are ultrasonic motors. A methodology of using such motors in the MRI environment is presented. The robot prototype with surgical ablation tool is undergoing tests on phantoms in the MRI bore. The tests cover MRI compatibility, image visualization, robot accuracy, and thermal mapping. To date, (i) the images are artifact- and noise-free for certain scanning pulse sequences; (ii) the robot tip positioning error is less than 1.2 mm even at positions closer than 0.3 m from the MRI isocenter; (iii) penetration toward the target is image-monitored in near-real time; and (iv) thermal ablation and temperature mapping are achieved using a laser delivered on an optical fiber and MRI, respectively.

POD-05.01: Robot-Assisted MRI-Guided Prostatic Interventions

Urology ◽  
2009 ◽  
Vol 74 (4) ◽  
pp. S13
Author(s):  
U. Lindner ◽  
A. Goldenberg ◽  
M. Haider ◽  
W. Kucharczyk ◽  
M. Sussman ◽  
...  
Keyword(s):  
Robot Assisted ◽  
Mri Guided

scholarly journals A 10-mm MR-Conditional Unidirectional Pneumatic Stepper Motor

2015 ◽  
Vol 20 (2) ◽  
pp. 782-788 ◽  
Author(s):  
Yue Chen ◽  
Christopher D. Mershon ◽  
Zion Tsz Ho Tse
Keyword(s):  
Stepper Motor ◽  
Mr Conditional

Design of Control System of Acceleration and Deceleration of Stepper Motor Based on ATMEGA128

2013 ◽  
Vol 805-806 ◽  
pp. 1001-1006
Author(s):  
Jian Min Wang ◽  
Hai Bo Wei
Keyword(s):  
Control System ◽  
High Reliability ◽  
Low Cost ◽  
Stepper Motor ◽  
Effective Algorithm ◽  
Electromagnetic Device ◽  
Actual Effect ◽  
Acceleration And Deceleration ◽  
Overall Performance ◽  
High Torque

Stepper motor is a common electromagnetic device, the corresponding circuit of control and driver, effective algorithm of acceleration and deceleration play a very important role in improving overall performance. Many advantages were achieved using the control system based on ATMEGA128, such as higher simplicity, low cost, high reliability, high torque at low speeds, and high motion accuracy. At the same time, by using algorithm of acceleration and deceleration, the efficiency of stepper motor is further enhanced, and the actual effect of control of stepper motor is smooth and has good results.

scholarly journals Evaluation of robot-assisted MRI-guided prostate biopsy: needle path analysis during clinical trials

2018 ◽  
Vol 63 (20) ◽  
pp. 20NT02 ◽  
Author(s):  
Pedro Moreira ◽  
Niravkumar Patel ◽  
Marek Wartenberg ◽  
Gang Li ◽  
Kemal Tuncali ◽  
...  
Keyword(s):  
Clinical Trials ◽  
Path Analysis ◽  
Prostate Biopsy ◽  
Robot Assisted ◽  
Biopsy Needle ◽  
Needle Path ◽  
Mri Guided

Design and simulation of disk stepper motor with permanent magnets

2013 ◽  
Vol 62 (2) ◽  
pp. 281-288 ◽  
Author(s):  
Ján Kaňuch ◽  
Želmíra Ferková
Keyword(s):  
Permanent Magnet ◽  
Permanent Magnets ◽  
Stepper Motor ◽  
Fem Modeling ◽  
Axial Flux ◽  
Torque Density ◽  
Radial Flux ◽  
Type Machine ◽  
High Torque ◽  
Static Simulation

Abstract In this paper the design and the magneto-static simulation of axial-flux permanent- magnet stepper motor with the disc type rotor is presented. Disk motors are particularly suitable for electrical vehicles, robots, valve control, pumps, centrifuges, fans, machine tools and manufacturing. The brushless machine with axial flux and permanent magnets, also called the disc-type machine, is an interesting alternative to its cylindrical radial flux counterpart due to the disk shape, compact construction and high torque density. This paper describes a design of four phase microstepping motor with the disc type rotor. The FEM modeling and the 3D magneto-static simulation of the disk stepper motor with permanent magnets is being subject of the article, too. Disc rotor type permanent magnet stepper motor for high torque to inertia ratio is ideal for robotics and CNC machines.

Highly realistic simulation for robot-assisted hypothalamic hamartoma real-time MRI-guided laser interstitial thermal therapy (LITT)

2020 ◽  
Vol 36 (6) ◽  
pp. 1131-1142 ◽  
Author(s):  
Santiago Candela-Cantó ◽  
Mariana Alamar ◽  
Carlos Aláez ◽  
Jordi Muchart ◽  
Carolina Forero ◽  
...  
Keyword(s):  
Real Time ◽  
Thermal Therapy ◽  
Hypothalamic Hamartoma ◽  
Robot Assisted ◽  
Realistic Simulation ◽  
Laser Interstitial Thermal Therapy ◽  
Mri Guided
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