High-Performance Continuous Hydraulic Motor for MR Safe Robotic Teleoperation

Abstract

Magnetic resonance imaging (MRI)-guided intervention has drawn increasing attention over the last decade.It is accredited to the capability of monitoring any physiological change of soft tissue with the high-contrast MR images. This also gives rise to the demand for precise tele-manipulation of interventional instruments. However, there is still lack of choices of MR safe actuators that provide high-fidelity robot manipulation. In this paper, we present a three-cylinder hydraulic motor using rolling-diaphragm-sealed cylinders, which can provide continuous bidirectional rotation with unlimited range. Both kinematics and dynamics models of the presented motor were studied, which facilitate its overall design optimization and position/torque control. Motor performance, such as step response, frequency response, and accuracy, were experimentally evaluated. We also integrate the motor into our catheter robot prototype designed for intra-operative MRI-guided cardiac electrophysiology (EP), which can provide full-degree-of-freedom and precise manipulation of a standard EP catheter.

Remote Vascular Interventional Surgery Robotics: A Literature Review

“…A feasible solution is to place the power source outside the MRI operating room and transmitting the power to the operating room through MRI-compatible mediums. For example, Ka-Wai Kwok et al (University of Hong Kong) designed a hydraulic Interventional electrophysiological robot [57,66,67], and Abdelaziz et al (Imperial College, London) designed a pneumatic interventional robot [68]. The bodies and internal transmission parts of these robots are made of plastic or other materials compatible with the MRI environment.…”

Remote Vascular Interventional Surgery Robotics: A Literature Review

“…For instance, Kwok et al of the University of Hong Kong designed a hydraulic interventional EP robot (Fig. 17a) (59,68,69), and Abdelaziz et al of Imperial College London designed a pneumatic interventional robot (Fig. 17b) (70).…”

Design and Experimental Characterization of Hydraulically Actuated Revolute Joint Based on Multimaterial Additive Manufacturing

“…Designing an MMAMbased hydraulic joint can then help to build compact custom systems for single use or limited number of uses, as often considered in the medical field. In terms of compactness, this solution is here interesting when compared to designs based on rolling diaphragms [13,15], as these diaphragms are limited in terms of stroke for a given diameter. Another advantage of the proposed component is to ease the design of devices with specific kinematic architectures, for instance with spatial linkages as considered in parallel mechanisms, as the relative position of rotation axes is ensured by manufacturing.…”

“…Hydraulics are well adapted to the actuation of 3D printed devices. In [13][14][15], hydraulic transmissions were efficiently used to perform actuation in a medical context. In terms of design, it is possible to benefit from the high power density of hydraulics and the possibility to have long transmission lengths to implement remote manipulation even in a challenging environment such as the MRI [16].…”