2013 Fiscal Year Final Research Report
Novel actuator for medical image-guided surgical assist robot
| Project/Area Number |
24650290
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Single-year Grants |
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| Research Field |
Medical systems
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| Research Institution | The University of Tokyo |
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Principal Investigator |
MASAMUNE Ken 東京大学, 情報理工学(系)研究科, 准教授 (00280933)
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Keywords | アクチュエータ / 非磁性 / MRI / 制動機構 / ペルチェ素子 / 機械要素 |
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| Research Abstract |
In these decade, intraoperative MRI-guided surgeries are performed using real time biological information of the patients. For more precise surgery, a robotic device with navigation is considered useful inside the MRI environment. In this project, we proposed a novel MRI compatible rotation-and-brake actuator for MRI-guided surgical device to achieve precise positioning tasks. The actuator combines a stepping rotation mechanism using pneumatic power and a freezing brake mechanism using peltier cooling element with water. Prototype actuators are developed and evaluated. There is a problem in the response speeds, it is realized that the positioning accuarcy and the strength of the fixing force are enough for the positioning use.
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