University of Twente Student Theses


Developing an MR safe calibration and interface module for pneumatic stepper motors

Janbroers, J.M. (2019) Developing an MR safe calibration and interface module for pneumatic stepper motors.

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Abstract:Robots that can operate in MR environments can contribute to more precise biopsies in MRI machines. An example of such a robot is the Sunram 5 robot which is designed for taking biopsies of the breast. The Sunram robot is calibrated manually. An MR safe calibration and interface module can contribute to the calibration of the robot. MR safe materials like plastic and non-metallic strings can be used to transfer information from outside the MR environment to inside the MR environment. A 3D Printer can be used for printing plastic complicated designs. Plastic optical fiber is chosen for the information transfer due to the transmission speed and the fact that information can be generated by obstructing the light beam. An MR safe sensor and interface module with three buttons and three indicator lights from PLA and plastic optical fibers are designed and realized. A pneumatic stepper motor is calibrated with this sensor and controller with this interface module. The position of the motor was registered and the movement of the motor was bound by the system. The design and realization might be altered for the use in a next generation Sunram robot.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:30 exact sciences in general, 33 physics, 44 medicine, 50 technical science in general, 52 mechanical engineering, 53 electrotechnology
Programme:Electrical Engineering BSc (56953)
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