Evaluation of a parallel actuation approach for MR-compatible haptics

Parthiban, Chembian; Esser, Christopher; Zinn, Michael

doi:10.1109/haptic.2012.6183848

Cited by 6 publications

(2 citation statements)

References 24 publications

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“…The ability to use the device under consideration to evaluate the human impedance model parameters is helpful as those parameters are strongly influenced by the userinterface of the specific device. To demonstrate the approach we examine an admittance-type haptic device previously described in [12] and shown in Figure 3.…”

Section: Virtual Admittancementioning

confidence: 99%

A simplified approach to admittance-type haptic device impedance evaluation

Parthiban

Zinn

2014

2014 IEEE Haptics Symposium (HAPTICS)

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Evaluating the transparency, or output impedance more generally, of admittance-type haptic devices is challenging due to their inherently non-back-drivable mechanical characteristics. To address this, we describe a new, simplified evaluation approach that eliminates the need for external test fixtures. The simplified approach relies on the easily obtainable closed-loop position control response of the device in combination with a device/system dynamic model. In addition to evaluating output impedance, the approach can be used of evaluate the overall stable rendering range of the device. Finally, the limitations of the approach are discussed.

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Section: Virtual Admittancementioning

confidence: 99%

A simplified approach to admittance-type haptic device impedance evaluation

Parthiban

Zinn

2014

2014 IEEE Haptics Symposium (HAPTICS)

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“…Piezoelectric motors have been evaluated in our research group, as well as in [25], [34] with admittance control to regulate force outputs or novel mechanism design [35] as haptic actuators. However, our experience shows that this kind of motor is inherently non-backdrivable and relies on friction interaction between piezoelectric elements and the motor drive rod or ring, and therefore suffers from quickly wearing out and failure in a short operation duration [36].…”

Section: Pneumatic Driven Master Robot With Strain Gauge Force Smentioning

confidence: 99%

Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback

Shang

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

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Systematic Review of fMRI Compatible Devices: Design and Testing Criteria

et al. 2017

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Functional Magnetic Resonance Imaging (fMRI) is at present one of the most used methodologies for functional brain exploration, both in clinical and research settings. fMRI can noninvasively measure neural activity by using specific experimental paradigms. Often, these paradigms require the stimulation of the subject to perform sensorimotor tasks: in the past, the stimuli have been administered manually for investigating fundamental aspects of tactile perception and somatosensory processing. Nowadays, the use of mechatronic devices to stimulate the subject during fMRI studies is growing, also to assure reproducibility, control, and monitoring of task performances. For these reasons, researchers are interested in designing interfaces to be used inside the MRI environment during fMRI studies. For the design of every new device safety and compatibility constraints, imposed by the presence of high static magnetic field, switching magnetic gradients and radiofrequency electromagnetic pulses, must be satisfied. Moreover, it should be considered that functional imaging sequences are even more sensitive to perturbations of the magnetic field than MRI standard diagnostic sequences. Despite several existing devices for use in fMRI studies, an extensive review is still lacking. Our survey aims to introduce into the challenges imposed on the development of fMRI-compatible devices. The current state of the art of compatible devices in fMRI will be presented, pointing out the functionalities and peculiarities of various kinds of device. A particular emphasis will be placed on the tests for the evaluation of fMRI compatibility. This review will be useful both for designers of devices to be used in fMRI studies and for neuroscientists that are having to design fMRI experimental paradigm, and therefore require an overview of existing instruments, but also a knowledge of the benefits and criticism arising from their use.

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Evaluation of a parallel actuation approach for MR-compatible haptics

Cited by 6 publications

References 24 publications

A simplified approach to admittance-type haptic device impedance evaluation

A simplified approach to admittance-type haptic device impedance evaluation

Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback

Systematic Review of fMRI Compatible Devices: Design and Testing Criteria

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