| 000 -LEADER |
|---|
| fixed length control field |
a |
| 003 - CONTROL NUMBER IDENTIFIER |
|---|
| control field |
OSt |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
|---|
| control field |
20240527120301.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
|---|
| fixed length control field |
240527b xxu||||| |||| 00| 0 eng d |
| 040 ## - CATALOGING SOURCE |
|---|
| Original cataloging agency |
AIKTC-KRRC |
| Transcribing agency |
AIKTC-KRRC |
| 100 ## - MAIN ENTRY--PERSONAL NAME |
|---|
| 9 (RLIN) |
23460 |
| Author |
Miron, Geneviève |
| 245 ## - TITLE STATEMENT |
|---|
| Title |
Design and manufacturing of embedded air-muscles for a magnetic resonance imaging compatible prostate cancer binary manipulator |
| 250 ## - EDITION STATEMENT |
|---|
| Volume, Issue number |
Vol.135(1), Jan |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. |
|---|
| Place of publication, distribution, etc. |
New York |
| Name of publisher, distributor, etc. |
ASME |
| Year |
2013 |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Pagination |
1-10p. |
| 520 ## - SUMMARY, ETC. |
|---|
| Summary, etc. |
Magnetic resonance imaging (MRI) compatible robots can assist physicians with the insertion of biopsy needles and needle-like therapeutic instruments directly into millimeter-size tumors, using MR images as feedback. However, MRI systems present a challenging environment with high magnetic fields and limited space, making the development of MRI-compatible robots complex. This paper presents an MRI-compatible pneumatic actuation technology consisting of molded polymer structures with embedded air-muscles operated in a binary fashion. Along with its good positioning accuracy, the technology presents advantages of compactness, perfect MRI-compatibility, simplicity and low cost. Here, we specifically report the design and validation of a transperineal prostate cancer manipulator prototype that has 20 embedded air-muscles distributed in four star-like polymer structures. These compliant structures are made of silicone elastomer, using lost-core injection molding. Low motion hysteresis and good precision are achieved by designing molded joints that eliminate sliding surfaces. An effective design method for such embedded polymer air-muscles is proposed, using a manipulator model and four air-muscle design models: geometrical, finite elements, uniaxial analytic, and experimental. Binary control of each air-muscle ensures stability and accuracy with minimized costs and complexity. The prototype is found MRI-compatible with no observable effects on the signal-to-noise ratio and, with appropriate image feedback, is found to reach targets with precision and accuracy under 0.5 mm. The embedded approach reveals to be a key feature since it reduces hysteresis errors by a factor of ≈7 compared to a previous nonembedded version of the manipulator. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| 9 (RLIN) |
4626 |
| Topical term or geographic name entry element |
Mechanical Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME |
|---|
| 9 (RLIN) |
23461 |
| Co-Author |
Girard, Alexandre |
| 773 0# - HOST ITEM ENTRY |
|---|
| Title |
Journal of mechanical design |
| Place, publisher, and date of publication |
New York ASME |
| 856 ## - ELECTRONIC LOCATION AND ACCESS |
|---|
| URL |
https://asmedigitalcollection.asme.org/mechanicaldesign/article-abstract/135/1/011003/375701/Design-and-Manufacturing-of-Embedded-Air-Muscles?redirectedFrom=fulltext |
| Link text |
Click here |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Source of classification or shelving scheme |
|
| Koha item type |
Articles Abstract Database |
