In the field of medical robotics, precision and safety are key factors. In order to achieve it, one of the new frontier for surgical robotics is image-guided device. As a result, MRI scanners are interesting in order to generate real-time high definition images of soft tissues, which can prove very useful for very difficult intervention.
However, MRI scanner is among the most challenging environments for robotics, where electromagnetic interference and confined spaces pose significant obstacles to traditional actuators.
That’s why UC Berkeley is leading the way in research for actuation system suitable inside the MRI. This blog post is about a groundbreaking development by researchers at UC Berkeley, featuring Tekceleo’s ultrasonic motors (USMs), set to redefine the possibilities for MRI-guided surgical robots.
The Power Behind Precision: Tekceleo’s Ultrasonic Motors
At the heart of this innovation is Tekceleo’s state-of-the-art ultrasonic motor, a non-magnetic conception motor known for its compact size, precision, and reliability. Unlike conventional electric motors, Tekceleo’s USM operates without generating significant electromagnetic interference and without any ferromagnetic materials, making it ideal for sensitive environments like MRI scanners. This unique capability allows the motor to function flawlessly within the high magnetic fields of an MRI, opening new avenues for the integration of robotic systems in medical imaging and surgical procedures.
Introducing UC Berkeley’s Compact Series Elastic Actuator (SEA)
The UC Berkeley research team leveraged Tekceleo’s ultrasonic motor to develop a novel compact Series Elastic Actuator (SEA) specifically designed for MRI-guided robots. This actuator represents a significant leap forward in medical robotics. By integrating a USM with a rotary gearbox and a spring element into a single transmission force-sensing structure, the team created an actuator that not only fits within the tight confines of an MRI scanner but also offers unprecedented force control.
Standing at just 80 mm in diameter and 66 mm in length, this SEA module perfectly explained in the following article : https://arxiv.org/pdf/2406.07670. Its compact design does not compromise on power or precision, making it a perfect fit for MRI-guided interventions where space is limited and accuracy is crucial.
Precision Control for Enhanced Safety
In medical robotics, particularly in procedures involving human interaction, the ability to control force precisely is critical. The SEA developed by UC Berkeley, powered by Tekceleo’s ultrasonic motor, achieves this with a disturbance observer-based (DOB) controller. This advanced controller ensures that the actuator maintains consistent performance even as it transitions from free motion to interacting with human tissue—a common scenario in surgical procedures.
Experimental results show that the SEA can achieve a settling time of just 0.1 seconds and a steady-state error of less than 2% of the maximum output torque, which is unprecedented in MRI environment. This level of precision is unmatched in traditional actuators, making this SEA a complete game-changer for MRI-guided surgical robots.
Pioneering MRI Compatibility
One of the most significant challenges in developing actuators for MRI environments is minimizing magnetic interference. Tekceleo’s USM, with its inherently low electromagnetic footprint, is key in overcoming this factor. Moreover, each SEA component was meticulously designed to ensure MRI compatibility, using materials and structural elements that reduce magnetic influence while maintaining the actuator’s robustness and functionality.
Shaping the Future of MRI-Guided Surgery
The integration of Tekceleo’s ultrasonic motors into this revolutionary SEA module highlights the potential of new advanced motor technology in enhancing the capabilities of medical robots. As MRI-guided surgical robots become more prevalent, the need for precise, reliable, and compact actuators will only grow. Tekceleo’s USM, combined with innovative design and great partnership with key Academic Research, positions the company at the forefront of this exciting field.
This collaboration between Tekceleo and UC Berkeley prove possible to push the boundaries of what is possible in medical robotics. For more information on Tekceleo’s innovative ultrasonic motors and their applications in medical robotics, visit their dedicated webpage.
