title: Towards a Meso-Scale SMA-Actuated MRI-Compatible Neurosurgical Robot.
abstract: Brain tumors are the most feared complications of cancer. Their treatment is challenging due to the lack of good imaging modality and the inability to remove the complete tumor. Facilitating tumor removal by accessing regions outside the "line-of-sight" will require a highly dexterous and MRI compatible robot. We present our work towards the development of a MRI-compatible neurosurgical robot. We used two antagonistic shape memory alloy (SMA) wires as actuators for each joint. Due to the size limitation of the device, we rely on temperature feedback to control the joint motion of the robot. We have developed a theoretical model based on Tanaka's model to characterize the joint motion with the change in SMA wire temperature. The results demonstrated that the SMA wire temperature can be used reliably to predict the motion of the robot. We then used a PWM scheme and switching circuit to control the temperature of multiple SMA wires. Experimental results showed that we can actuate the robot reliably and observe joint motion in a gelatin medium. MR images also showed that the robot is fully MRI-compatible and creates no significant image distortion.
authors.affiliation: with the Robotics, Automation, and Medical Systems (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD 20742 USA; with the Maryland Robotics Center, Institute for Systems Research, University of Maryland, College Park, MD 20742 USA  myho@umd.edu.
authors.forename: Mingyen
authors.initials: M
authors.lastname: Ho
authors.forename: Alan
authors.initials: A
authors.lastname: McMillan
authors.forename: J Marc
authors.initials: JM
authors.lastname: Simard
authors.forename: Rao
authors.initials: R
authors.lastname: Gullapalli
authors.forename: Jaydev P
authors.initials: JP
authors.lastname: Desai