Sang-Hyeon Park, Weon-Hyeong Kim, Jeong-Hyeon Moon, Seong Young Ko,

Journal of Advanced Technology Research, Vol. 3, No. 2, pp. 11-16, Dec. 2018
10.11111/JATR.2018.3.2.011, Full Text:
Keywords: Pneumatic Actuator, Stepping Motor, Magnetic Resonance Compatible
Abstract

Recently, researches are being conducted to improve the precision of robot-assisted surgery using information from magnetic resonance images. Since conventional robots cannot be used due to magnetic interference, however, various types of magnetic resonance (MR-) compatible robots are under the development. As a first step in the development of such robots, in this study a MR-compatible actuator was proposed and developed. The developed actuator is a pneumatic stepping motor and all parts are developed using diamagnetic material. In addition, it consists of two pneumatic cylinders, a 90 degree rotating stepping device and a direction decision part. Experiments have shown that a rotational speed of 90 rpm and a torque of 4 mm N can be obtained. Although it is necessary to increase its rotational speed and torque, it is verified that it can be used as an actuator for a MR-compatible surgical robot in the future.

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