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Article: High-performance Continuous Hydraulic Motor for MR Safe Robotic Teleoperation

TitleHigh-performance Continuous Hydraulic Motor for MR Safe Robotic Teleoperation
Authors
KeywordsHydraulic systems
Robots
Magnetic resonance imaging
Pistons
Fluids
Issue Date2019
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2019, v. 4 n. 2, p. 1964-1971 How to Cite?
AbstractMagnetic resonance imaging (MRI) guided intervention has drawn increasing attention over the last decade. It is accredited to the capability of monitoring any physiological change of soft tissue with the high-contrast MR images. This also gives rise to the demand for precise tele-manipulation of interventional instruments. However, there is still lack of choices of MR safe actuators that provide high-fidelity robot manipulation. In this letter, we present a three-cylinder hydraulic motor using rolling-diaphragmsealed cylinders, which can provide continuous bidirectional rotation with unlimited range. Both kinematics and dynamics models of the presented motor were studied, which facilitate its overall design optimization and position/torque control. Motor performance, such as step response, frequency response, and accuracy, were experimentally evaluated. We also integrate the motor into our catheter robot prototype designed for intra-operative MRI-guided cardiac electrophysiology (EP), which can provide full degree-of-freedom and precise manipulation of a standard EP catheter.
Persistent Identifierhttp://hdl.handle.net/10722/272886
ISSN

 

DC FieldValueLanguage
dc.contributor.authorDong, Z-
dc.contributor.authorGuo, Z-
dc.contributor.authorLee, KH-
dc.contributor.authorFang, G-
dc.contributor.authorTang, WL-
dc.contributor.authorChang, HC-
dc.contributor.authorChan, DTM-
dc.contributor.authorKwok, KW-
dc.date.accessioned2019-08-06T09:18:26Z-
dc.date.available2019-08-06T09:18:26Z-
dc.date.issued2019-
dc.identifier.citationIEEE Robotics and Automation Letters, 2019, v. 4 n. 2, p. 1964-1971-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/272886-
dc.description.abstractMagnetic resonance imaging (MRI) guided intervention has drawn increasing attention over the last decade. It is accredited to the capability of monitoring any physiological change of soft tissue with the high-contrast MR images. This also gives rise to the demand for precise tele-manipulation of interventional instruments. However, there is still lack of choices of MR safe actuators that provide high-fidelity robot manipulation. In this letter, we present a three-cylinder hydraulic motor using rolling-diaphragmsealed cylinders, which can provide continuous bidirectional rotation with unlimited range. Both kinematics and dynamics models of the presented motor were studied, which facilitate its overall design optimization and position/torque control. Motor performance, such as step response, frequency response, and accuracy, were experimentally evaluated. We also integrate the motor into our catheter robot prototype designed for intra-operative MRI-guided cardiac electrophysiology (EP), which can provide full degree-of-freedom and precise manipulation of a standard EP catheter.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectHydraulic systems-
dc.subjectRobots-
dc.subjectMagnetic resonance imaging-
dc.subjectPistons-
dc.subjectFluids-
dc.titleHigh-performance Continuous Hydraulic Motor for MR Safe Robotic Teleoperation-
dc.typeArticle-
dc.identifier.emailLee, KH: brianlkh@HKUCC-COM.hku.hk-
dc.identifier.emailTang, WL: at361836@hku.hk-
dc.identifier.emailChang, HC: hcchang@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityChang, HC=rp02024-
dc.identifier.authorityKwok, KW=rp01924-
dc.description.naturepostprint-
dc.identifier.doi10.1109/LRA.2019.2899189-
dc.identifier.scopuseid_2-s2.0-85062601827-
dc.identifier.hkuros300188-
dc.identifier.volume4-
dc.identifier.issue2-
dc.identifier.spage1964-
dc.identifier.epage1971-
dc.publisher.placeUnited States-

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