Title:
Design of an MRI Compatible Haptic Interface
Design of an MRI Compatible Haptic Interface
| dc.contributor.author | Turkseven, Melih | en_US |
| dc.contributor.author | Ueda, Jun | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.date.accessioned | 2012-01-30T19:00:24Z | |
| dc.date.available | 2012-01-30T19:00:24Z | |
| dc.date.issued | 2011-12 | |
| dc.description | ©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/IROS.2011.6095170 | en_US |
| dc.description | Presented at the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25-30 September 2011, San Francisco, CA. | en_US |
| dc.description.abstract | This paper proposes an MRI-compatible, 1-axis force sensing unit which is designed to be used as a haptic interface on an MRI compatible robot. Recently, it became a popular research direction to enable MRI in surgical operations and brain studies with the help of robotic devices. However, due to high magnetic field in MRI environment, conventional sensors and robots cannot be used in MRI rooms. Existing MRI-compatible force sensors have limited number of degrees of freedom or they do not offer compact solutions for multiple-axis sensing. In this paper, a compact 1-axis force sensing unit which employs a compliant displacement amplification mechanism is introduced and then analyzed for better sensitivity and accuracy. A combination of multiple proposed sensing units can be assembled to have a force sensor with desired number of degrees of freedom. Prototypes made of delrin and ABS-plastic are tested. Experiments indicated that the proposed sensor is suitable for force sensing and fully compatible to MRI. Also, the sensor made of delrin is superior in mechanical performance and MRI compatibility to ABS-plastic sample. | en_US |
| dc.identifier.citation | Melih Turkseven and Jun Ueda, "Design of an MRI Compatible Haptic Interface," the 2011 IEEE International Conference on Intelligent Robots and Systems (IROS 2011). | en_US |
| dc.identifier.isbn | 978-1-61284-454-1 | |
| dc.identifier.issn | 2153-0858 | |
| dc.identifier.uri | http://hdl.handle.net/1853/42289 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Magnetic resonance imaging | en_US |
| dc.subject | Haptic interface | en_US |
| dc.subject | MRI compatible robot | en_US |
| dc.subject | Multiple-axis sensing | en_US |
| dc.subject | Delrin | en_US |
| dc.subject | ABS-plastic | en_US |
| dc.subject | Prototypes | en_US |
| dc.subject | Surgical robots | en_US |
| dc.title | Design of an MRI Compatible Haptic Interface | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Ueda, Jun | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | Biorobotics and Human Modeling Lab | |
| relation.isAuthorOfPublication | 7ff601c5-b262-4830-8a06-b75c55f5f1c8 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf | |
| relation.isOrgUnitOfPublication | 4b66d00b-b98a-41d9-8840-90db5ad3f880 |
Files
Original bundle
1 - 1 of 1
- Name:
- Ueda_IROS_2011.002.pdf
- Size:
- 555.63 KB
- Format:
- Adobe Portable Document Format
- Description: