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论文:2014,Vol:32,Issue(1):147-151 |
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引用本文： |
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王文东, 史仪凯, 袁小庆, 苏士斌. 手术机器人中超声波电机磁共振兼容性研究[J]. 西北工业大学 |
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Wang Wendong, Shi Yikai, Yuan Xiaoqing, Su Shibin. Design and Analysis of Magnetic Resonance Compatibility of Ultrasonic Motor in Surgical Robot[J]. Northwestern polytechnical university |
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| 手术机器人中超声波电机磁共振兼容性研究 |
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| 王文东, 史仪凯, 袁小庆, 苏士斌 |
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| 西北工业大学 机电学院, 陕西 西安 710072 |
| 摘要: |
| 针对磁共振环境对手术机器人中超声波电机兼容性的要求,建立了基于RF线圈的信噪比计算模型;构建了用于文中测试的超声波电机控制系统;获得单超声波电机平行与垂直安装方式和多超声波电机混合安装方式的磁共振图像和信噪比。结果显示,平行安装比垂直安装方式获取的磁共振图像质量高;多超声波电机使用场合须保证电机与扫描中心的安全距离,避免电机垂直安装;在无法改变安装方式的场合,设计自动旋转调整的安装方式有利于提高兼容性。 |
| 关键词:
手术机器人
超声波电机
磁共振
兼容性
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| Design and Analysis of Magnetic Resonance Compatibility of Ultrasonic Motor in Surgical Robot |
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| Wang Wendong, Shi Yikai, Yuan Xiaoqing, Su Shibin |
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| Department of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| The operation and mounting of ultrasonic(US) motor have significant effect on MR-compatibility of surgical robot. This paper presented the mathematic model for calculating signal-noise ratio(SNR). The tests of MRcompatibility of single-US motor with parallel and perpendicular mounting separately and multi-US motors with mixed mounting were performed under Philips 3T scanner. The MR images and SNR of the above experimental tests were obtained. The results and their analysis show preliminarily that the quality of MR images in parallel mounting was better than perpendicular mounting; a sufficiently large distance between US motor and isocenter of MR scanner is necessary to avoid artifacts and noise; the design of automatic turning/ matching device can significantly improve the MR-compatibility of US motors. Section 4 gives concluding remarks,which present suggestions in many respects for improving MR-compatibility but appear to be very difficult to be summarized concisely. |
| Key words:
MR (magnetic resonance) -compatibility
MR imaging (MRI)
surgical robots
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| 收稿日期: 2013-04-23
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(51105316);西北工业大学基础研究基金(JCY20130118))资助 |
| 通讯作者:
Email： |
| 作者简介: 王文东(1984-),西北工业大学博士研究生,主要从事手术机器人的研究。
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