Publication

Design of a simple MRI/fMRI compatible force/torque sensor

Hannes Bleuler, Roger Gassert, Dominique Chapuis
2004
Conference Papers

Abstract

Force/torque sensors compatible with magnetic resonance imaging (MRI) are required to develop haptic interfaces for neuroscientific investigations and robotic tools for interventional MRI. In this paper, we analyze the mechanical structure of classical and MRI compatible sensors from literature and demonstrate the critical role of the mechanical design on the sensing performance. A simple and efficient torque sensor based on light intensity measurement over optical fibers is introduced, which allows to place the electronic components outside the scanner room. By using a self-guiding flexible structure and optimal mirror placement, the sensitivity to transverse torque is reduced to 0.03% of the desired output torque.

Official source

https://infoscience.epfl.ch/entities/publication/7cbfccca-ee1d-4932-bf4b-c149642eead4

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Hannes Bleuler, Roger Gassert, Dominique Chapuis
2004
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/7cbfccca-ee1d-4932-bf4b-c149642eead4

About this result

Related concepts (32)

Magnetic resonance imaging

Magnetic resonance imaging (MRI) is a medical imaging technique used in radiology to form pictures of the anatomy and the physiological processes of the body. MRI scanners use strong magnetic fields, magnetic field gradients, and radio waves to generate images of the organs in the body. MRI does not involve X-rays or the use of ionizing radiation, which distinguishes it from computed tomography (CT) and positron emission tomography (PET) scans.

Robotic arm

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand.

Mechanical engineering

Mechanical engineering is the study of physical machines that may involve force and movement. It is an engineering branch that combines engineering physics and mathematics principles with materials science, to design, analyze, manufacture, and maintain mechanical systems. It is one of the oldest and broadest of the engineering branches. Mechanical engineering requires an understanding of core areas including mechanics, dynamics, thermodynamics, materials science, design, structural analysis, and electricity.

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