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Computer Science > Robotics

arXiv:2108.08495 (cs)
[Submitted on 19 Aug 2021]

Title:Can a Tesla Turbine be Utilised as a Non-Magnetic Actuator for MRI-Guided Robotic Interventions?

Authors:David Navarro-Alarcon, Luiza Labazanova, Man Kiu Chow, Kwun Wang Ng, Derek Kwok
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Abstract:This paper introduces a new type of nonmagnetic actuator for MRI interventions. Ultrasonic and piezoelectric motors are one the most commonly used actuators in MRI applications. However, most of these actuators are only MRI-safe, which means they cannot be operated while imaging as they cause significant visual artifacts. To cope with this issue, we developed a new pneumatic rotary servo-motor (based on the Tesla turbine) that can be effectively used during continuous MR imaging. We thoroughly tested the performance and magnetic properties of our MRI-compatible actuator with several experiments, both inside and outside an MRI scanner. The reported results confirm the feasibility to use this motor for MRI-guided robotic interventions.
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2108.08495 [cs.RO]
  (or arXiv:2108.08495v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.08495

Submission history

From: David Navarro-Alarcon [view email]
[v1] Thu, 19 Aug 2021 04:44:22 UTC (21,007 KB)
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