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Research Papers

Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods

[+] Author and Article Information
S. Abdelaziz

Associate Professor
Université Montpellier 2, LIRMM, CNRS,
Montpellier 34000, France
e-mail: abdelaziz@lirmm.fr

L. Esteveny

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: lesteveny@unistra.fr

L. Barbé

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: laurent.barbe@unistra.fr

P. Renaud

Professor
Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: pierre.renaud@insa-strasbourg.fr

B. Bayle

Professor
Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: bernard.bayle@unistra.fr

M. de Mathelin

Professor
Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: demathelin@unistra.fr

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received June 14, 2013; final manuscript received May 26, 2014; published online June 19, 2014. Assoc. Editor: Chintien Huang.

J. Mech. Des 136(9), 091006 (Jun 19, 2014) (10 pages) Paper No: MD-13-1262; doi: 10.1115/1.4027783 History: Received June 14, 2013; Revised May 26, 2014

This paper deals with the design of a cable-driven manipulator (CDM) with instrumented structure for magnetic resonance imaging (MRI)-guided interventions. The strong magnetic field and the limited space inside the scanner constitute two severe design constraints. To handle them, a new synthesis approach for CDM is proposed in order to optimize the device compactness. This approach is based on the use of the zonotope properties to optimize the robot geometry, and the interval analysis tools for its validation. Remote actuation with Bowden cables is considered for MRI-compatibility. High friction along the line transmissions can then be expected which leads to a new instrumentation for cable tension evaluation. A prototype is manufactured and assessed. The principle of the instrumentation is validated as well as the user requirements in terms of workspace and ability to resist to external forces applied by the physician.

Copyright © 2014 by ASME
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Figures

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Fig. 1

Patient in the lithotomy position with the remote actuation CDM between his legs

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Fig. 3

(a) Needle axis positioning using the robotic device and (b) height of the platform

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Fig. 4

Needle insertion scenario

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Fig. 5

Example of available wrench set characterization: (a) representation of the planar mechanism (n = 2 and m = 3), (b) zonotope generation in the wrench space, (c) and (d) application of the hyperplane shifting method

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Fig. 7

(a) Symmetric triangular structure, (b) square structure with direct cables, and (c) square structure with crossed cables

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Fig. 8

Workspace analysis of the rectangular architecture with direct cables using its optimal design parameters ξop = 49 mm

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Fig. 9

Modification of the cables path with the use of an instrumented structure. For each cable, the paths to and from the platform are slightly shifted for sake of clarity.

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Fig. 10

Kinematic schemes and computer aided design views of the two compliant structures, denoted as (s1) and (s2)

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Fig. 11

(a) The selected compliant structure, (b) kinematic scheme of the amplification mechanism, and (c) the displacement field when the amplification mechanism is submitted to a 60 N force (displacements in mm)

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Fig. 12

Computer aided design overview of the device

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Fig. 13

Up, a global view of the prototype. Down, a closeup view of the compliant structure for tension estimation.

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Fig. 14

MRI compatibility assessment. Up, MRGuide positioned against a phantom. Down, MRI images in two planes P1 and P2.

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Fig. 15

Top view of the robotic device during the evaluation of the instrumented structure

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Fig. 16

Force compression in the bars estimated using the optical sensors

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Fig. 17

Test bed composed of one-fourth of the device

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Fig. 18

Cable tension evaluation

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Fig. 19

Setup used for the device performance evaluation

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Fig. 20

On the left, the force applied by the prismatic joint on the platform. On the right, the force exerted by the cables on the platform computed from tension measurements (forces in N, time origins differ between the two plots).

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