University of Twente Student Theses


Smart Control of MR safe Pneumatic Stepper Motor

Singh, A.N. (2021) Smart Control of MR safe Pneumatic Stepper Motor.

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Abstract:MRI-based invasive surgery requires that the equipments should be MR safe or MR conditional and does not interfere with the MRI scan. One such application is detection of lesion in breast that can only be detected on MRI. There are limitations in manual biopsy procedures, such as, the space inside the MRI scanner is not adequate for the radiologist to insert needle inside the scanner under visual guidance. While performing the procedure blindly outside the scanner may result in a failed biopsy. This can be overcome by using MR safe robotic system inside the scanner to increase accuracy and reduce the total time for the procedure. The STORMRAM series and SUNRAM 5 are MR-safe robotic systems for breast biopsy, which uses pneumatic stepper motors and driven by feed-forward control algorithm. There are currently no sensors in the robots that makes calibration difficult and detection of missed steps impossible. The objective of this thesis is to create a smart control of the pneumatic stepper motor for next-generation SUNRAM and related robotic systems. At the end of this thesis the new controller is able to apply features such as automatic calibration, position feedback system, higher speed and higher accuracy in comparison with previous controller.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 53 electrotechnology, 54 computer science
Programme:Electrical Engineering MSc (60353)
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