Achieving Commutation Control of an MRI-Powered Robot Actuator


Actuators that are powered, imaged, and controlled by magnetic resonance (MR) scanners could inexpensively provide wireless management of MR-guided robots. The same as ancient electrical motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. Generating maximum motor torque while avoiding instabilities and slippage requires closed-loop control of the electromagnetic field gradients, i.e., commutation. Accurately estimating the position and velocity of the rotor is important for prime-speed management, which may be a challenge thanks to the low refresh rate and high latency related to MR signal acquisition. This paper proposes and demonstrates a technique for closed-loop commutation based on interleaving pulse sequences for rotor imaging and rotor propulsion. This approach is shown to increase motor torque and velocity, eliminate rotor slip, and enable regulation of rotor angle. Experiments with a closed-loop MR imaging actuator produced a most force of nine.four N.

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