ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2024
Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
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Who cites it
5 citing papers in PubMed.
- Concentric Tube Robot-Assisted Intracerebral Hemorrhage Evacuation: Validation in an Ovine Model.IEEE transactions on medical robotics and bionics · 2026Article
- Modeling and Control For Minimally Invasive Intracerebral Hemorrhage Evacuation.IEEE transactions on medical robotics and bionics · 2026Article
- A Comprehensive Review of Piezoelectric Ultrasonic Motors: Classifications, Characterization, Fabrication, Applications, and Future Challenges.Micromachines · 2024Review
- MR-Safe Cartesian Platform for Active Cardiac Shimming: Preliminary Validation.IEEE transactions on bio-medical engineering · 2024Article
- Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design andIEEE transactions on medical robotics and bionics · 2024Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Magnetic resonance (MR) conditional actuators and encoders are the key components for MR-guided robotic systems. In this article, we present the modeling and control of our MR-safe pneumatic radial inflow motor and encoder. A comprehensive model is developed that considers the primary dynamic elements of the system, including: 1) motor dynamics, 2) pneumatic transmission line dynamics, and 3) valve dynamics. After model validation, we present a simplified third order model that facilitates design of a first order sliding mode controller (TO-SMC). Finally, the motor hardware is tested in a 7T MRI. No image distortion or artifacts were observed. We posit the MR-safe motor and dynamic model will lower the entry barriers for researchers interested in MR-guided robots and promote wider adoption of MR-guided robotic systems.
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Registered trials
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