The contemporary development of robotic systems and their application in medicine require both novel methodologies and materials. Recently, magnetic resonance imaging (MRI) has become a widely used modality for diagnostic purposes. It was proven that MRI could visualize internal structures of the body better than X-rays, without using ionizing radiation. The latest research efforts have been made to extend the usage of this modality to the real-time monitoring and guidance of surgical interventions. In this paper, the preliminary investigations have been made to analyze the feasibility of developing an MRI compatible robotic manipulator for interstitial medical interventions. Due to the strong magnetic field in the working environment, the classical approach and materials cannot be used. Notably, the robotic device needs to be made of non-conductive, non-metallic and non-magnetic materials, and it still has to maintain its integrity and desired dynamical behavior during the working regime. Moreover, the robotic device should not produce any image distortion that can affect the image quality. This study outlines the preliminary mechanical design and the list of major parts and materials for the MRI compatible robotic system for interstitial surgical interventions. The usage of the adequate actuators, such as ultrasonic and piezoelectric motors, has been analyzed. Furthermore, the extensive simulation of system dynamics and system stability characteristics over a finite time interval was performed to investigate the possible control methodologies and global dynamical features of such a system.
Ključne reči :
Tematska oblast:
SIMPOZIJUM B: Biomaterijali i nanomedicina
Datum:
15.05.2013.
Br. otvaranja:
281
Contemporary Materials - 2013 - Savremeni materijali
