A force and displacement self-sensing method for a mri compatible tweezer end effector

A force and displacement self-sensing method for a mri compatible tweezer end effector

This work describes a self-sensing technique for a piezoelectrically driven MRI-compatible tweezer style end effector, suitable for robot assisted, MRI guided surgery. Nested strain amplification mechanisms are used to amplify the displacement of the piezo actuators to practical levels for robotics....

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Bibliographic Details
Main Author: McPherson, Timothy Steven
Published: Georgia Institute of Technology 2012
Subjects:
Piezoelectric actuation
Self sensing
Robotics
MRI compatible
Surgical instruments and apparatus
Robotics in medicine
Computer-assisted surgery
Piezoelectricity
Surgical robots
Magnetic resonance imaging
Online Access:http://hdl.handle.net/1853/44829

Internet

http://hdl.handle.net/1853/44829

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