NDLI: Design and development of a 3-axis MRI-compatible force sensor

Content Provider	IEEE Xplore Digital Library
Author	U-Xuan Tan Bo Yang Gullapalli, R. Desai, J.P.
Copyright Year	2010
Description	Author affiliation: Robotics, Automation, Manipulation, and Sensing (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, USA (U-Xuan Tan; Bo Yang; Desai, J.P.) \|\| University of Maryland School of Medicine, Baltimore, USA (Gullapalli, R.)
Abstract	Magnetic resonance imaging (MRI) has been gaining popularity over standard imaging modalities like ultrasound and CT because of its ability to provide excellent soft-tissue contrast. However, due to the working principle of MRI, a number of conventional force sensors are not compatible. One popular solution is to develop a fiber-optic force sensor. However, the measurements along the principal axes of a number of these force sensors are highly cross-coupled. One of the objectives of this paper is to minimize this coupling effect. In addition, this paper describes the design of an elastic frame structure that is obtained systematically by an algorithm and not purely based on design intuition. We used a topology optimization technique, which has two major advantages: 1) aids engineers in design when given a constrained boundary, and 2) optimize the displacement amplification, which will in turn increase stiffness, bandwidth, and improve sensing resolution. To ensure that the frames are linked from the input to output, a solution for topology optimization is proposed. The sensor is then fabricated using plastic material (ABS) as it is one of the ideal material for MRI environment. However, the hysteresis effect seen in the displacement-load graph of plastic materials is known to affect the accuracy. Hence, this paper also proposes modeling and addressing this hysteretic effect using Prandtl-Ishlinskii play operators. Finally, experiments are conducted to evaluate the sensor's performance, as well as its compatibility in MRI under continuous imaging.
Starting Page	2586
Ending Page	2591
File Size	1124720
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509761
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force sensors Magnetic resonance imaging Conducting materials Ultrasonic imaging Algorithm design and analysis Topology Constraint optimization Design optimization Plastics Computed tomography
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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