University of Twente Student Theses
MRI-compatible teleoperated needle insertion with haptic feedback
Hoitzing, W.B. (2017) MRI-compatible teleoperated needle insertion with haptic feedback.
|
PDF
4MB |
| Abstract: | In this assignment a prototype of a 1-degree-of-freedom teleoperated master-slave system was developed. The slave is able to insert a needle into a phantom inside an MRI-scanner, while the master provides the user with haptic feedback. A PHANTOM Omni (Sensable Technologies) serves as a master providing force feedback to the user. The slave is a pneumatic stepper motor, equipped with a force sensitive resistor. The master and slave were interfaced with MATLAB R2015b running on a desktop and an Arduino Uno. The MRI-compatibility of the slave and the implemen- tation of haptic feedback were evaluated. Images taken with a 0.25T scanner showed reasonable image quality, but no full MRI-compatibility was achieved. A user's response study revealed basic haptic feedback was implemented successfully, but the transparency while inside the phantom was inadequate. Results showed the used sensor proved to be a bottleneck for the system's functionality, calling for a better MRI-compatible force sensing alternative. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/81005 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page