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首页> 外文会议>IEEE/ASME International Conference on Advanced Intelligent Mechatronics >Time delay controller for the position control of a MRI-compatible pneumatic actuation with long supply lines
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Time delay controller for the position control of a MRI-compatible pneumatic actuation with long supply lines

机译：具有长供应线的MRI兼容气动驱动的位置控制的时间延迟控制器

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Pneumatic actuation with long supply lines is widely employed in robotic devices operating in the Magnetic Resonance Imaging (MRI) environment because it produces minimum alteration to the magnetic field. However the high friction of the cylinders and the delay introduced by the pipes make accurate position control challenging. This work presents design and control of an MRI-compatible pneumatic actuation that employs a commercially available, plastic cylinder and long supply lines connecting with the control hardware located outside the magnet room. The system has been designed to actuate a MRI-compatible needle-guiding robot intended for MRI-guided intervention of liver tumors. Accurate position control is achieved with a new Time Delay Control (TDC) scheme that includes a saturation function. The controller requires limited knowledge of the system's parameters and does not rely on pressure or force measurements. Simulation results and experiments demonstrate the advantages of the proposed controller over existing TDC schemes. The MRI-compatibility of the pneumatic actuation is verified in a 3T MRI scanner.
机译：具有长供应线的气动驱动广泛用于在磁共振成像（MRI）环境中操作的机器人设备，因为它产生了磁场的最小变化。然而，气缸的高摩擦和管道引入的延迟使得精确的位置控制具有挑战性。这项工作介绍了MRI兼容气动驱动的设计和控制，采用市售的塑料缸和长供应线，连接在磁体室外的控制硬件。该系统旨在致力致力于用于肝脏肿瘤的MRI引导介入的MRI兼容的针刺机器人。通过包括饱和函数的新时延控制（TDC）方案来实现精确的位置控制。控制器需要对系统参数的有限知识，并且不依赖于压力或力测量。仿真结果与实验证明了所提出的控制器对现有TDC方案的优点。气动驱动的MRI兼容性在3T MRI扫描仪中验证。

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