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Triaxial MRI-Compatible Fiber-optic Force Sensor

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4 Author(s)
U-Xuan Tan ; Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA ; Bo Yang ; Gullapalli, R. ; Desai, J.P.

Magnetic resonance imaging (MRI) has gained popularity over standard imaging modalities like ultrasound and computed tomography because of its ability to provide excellent soft-tissue contrast. However, due to the working principle of MRI, a number of conventional force sensors are not compatible. One popular solution is to develop a fiber-optic force sensor. However, the measurements along the principal axes of a number of these force sensors are highly cross-coupled. One of the objectives of this paper is to minimize this coupling effect. In addition, this paper describes the design of elastic frame structures that are obtained systematically using topology optimization techniques for the maximization of sensor resolution and sensor bandwidth. Through the topology optimization approach, we ensure that the frames are linked from the input to output. The elastic frame structures are then fabricated using polymers materials, such as ABS and Delrin®, as they are ideal materials for use in the MRI environment. However, the hysteresis effect seen in the displacement-load graph of plastic materials is known to affect the accuracy. Hence, this paper also proposes modeling and addressing this hysteretic effect by the use of Prandtl-Ishlinskii play operators. Finally, experiments are conducted to evaluate the sensor's performance, as well as its compatibility in MRI under continuous imaging.

Published in:

Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 1 )