Magnetic Resonance Compatible Pneumatic Actuators for Surgical Robotics
Foad Sojoodi Farimani is a PhD student in the Department of Surgical Robotics. Promotor is prof.dr. S. Misra from the Faculty of Engineering Technology.
Magnetic Resonance Imaging (MRI)-guided surgical robotics offers unique advantages for minimally invasive interventions through superior soft tissue visualization without radiation. However, conventional electromagnetic actuators are incompatible with MRI scanners’ strong magnetic fields. This dissertation develops novel Magnetic Resonance (MR)-compatible pneumatic actuators for surgical applications.
This research explores design, manufacturing, control, and tribological aspects of Pneumatic Stepper Motors (PSMs) for MRI-guided surgery, with special focus on frictional properties of Fused Deposition Modeling (FDM)-printed surfaces. Understanding surface-friction relationships enables refined actuator design and control strategies, addressing inherent pneumatic nonlinearities.
Key contributions include:
- Parametrically Optimized Design: A methodology for customizable MR-compatible PSMs, adaptable to specific surgical requirements.
- Hybrid Manufacturing: Implementation of FDM and hybrid techniques for cost-effective fabrication with complex geometries and diverse materials.
- Tribological Characterization: Analysis of friction behavior in FDM-printed surfaces under various conditions for actuator optimization.
- Advanced Control: Development of pneumatic models and model-based control strategies for precise positioning in MRI environments.
The developed actuators demonstrated enhanced performance in prototypes, addressing key limitations in MR-compatible robotics. By enabling precise motion control within MRI constraints, this research advances surgical interventions and Minimally Invasive Surgery (MIS), with potential applications in other fields requiring precision in MRI environments.
