Dual-Speed MR Safe Pneumatic Stepper Motors

Vincent Groenhuis, Françoise Jeanette Siepel, Stefano Stramigioli

Research output: Contribution to conferencePaperAcademicpeer-review

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Abstract

In breast cancer detection it is essential to perform precise interventions to determine the diagnosis. Robotic systems actuated by MR safe pneumatic stepper motors could improve accuracy to target the tumor. The achievable accuracy or speed is limited due to long pneumatic tubes connecting the motors to the electromagnetic valves in the control room. This paper presents the design of two dual-speed stepper motors in order to solve this limitation.

The linear motor measures 50x32x14 mm (excluding racks) and has step sizes 1.7 mm and 0.3 mm. The maximum speed under load is 20 mm/s, measured force is 24 N and positioning accuracy is 0.1 mm. The rotational motor measures Ø30x32 mm (excluding axles) and has step sizes 10° and 12.9°. Under load its maximum angular speed is 229 °/s or 38.2 RPM, maximum torque is 74 N mm and positioning accuracy is 1°. By operating the valves in a coordinated way high-speed and precise position control can be achieved. With these specifications the motors have high potential to actuate MR safe surgical robots.
Original languageEnglish
Number of pages8
Publication statusPublished - 26 Jun 2018
EventRobotics: Science and Systems 2018 - Carnegie Music Hall, Pittsburgh, United States
Duration: 26 Jun 201830 Jun 2018
http://roboticsconference.org/

Conference

ConferenceRobotics: Science and Systems 2018
Abbreviated titleRSS 2018
CountryUnited States
CityPittsburgh
Period26/06/1830/06/18
Internet address

Fingerprint

Pneumatics
Pneumatic tubes
Linear motors
Axles
Position control
Tumors
Robotics
Torque
Specifications

Cite this

Groenhuis, V., Siepel, F. J., & Stramigioli, S. (2018). Dual-Speed MR Safe Pneumatic Stepper Motors. Paper presented at Robotics: Science and Systems 2018, Pittsburgh, United States.
Groenhuis, Vincent ; Siepel, Françoise Jeanette ; Stramigioli, Stefano . / Dual-Speed MR Safe Pneumatic Stepper Motors. Paper presented at Robotics: Science and Systems 2018, Pittsburgh, United States.8 p.
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Groenhuis, V, Siepel, FJ & Stramigioli, S 2018, 'Dual-Speed MR Safe Pneumatic Stepper Motors' Paper presented at Robotics: Science and Systems 2018, Pittsburgh, United States, 26/06/18 - 30/06/18, .

Dual-Speed MR Safe Pneumatic Stepper Motors. / Groenhuis, Vincent ; Siepel, Françoise Jeanette; Stramigioli, Stefano .

2018. Paper presented at Robotics: Science and Systems 2018, Pittsburgh, United States.

Research output: Contribution to conferencePaperAcademicpeer-review

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T1 - Dual-Speed MR Safe Pneumatic Stepper Motors

AU - Groenhuis, Vincent

AU - Siepel, Françoise Jeanette

AU - Stramigioli, Stefano

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N2 - In breast cancer detection it is essential to perform precise interventions to determine the diagnosis. Robotic systems actuated by MR safe pneumatic stepper motors could improve accuracy to target the tumor. The achievable accuracy or speed is limited due to long pneumatic tubes connecting the motors to the electromagnetic valves in the control room. This paper presents the design of two dual-speed stepper motors in order to solve this limitation.The linear motor measures 50x32x14 mm (excluding racks) and has step sizes 1.7 mm and 0.3 mm. The maximum speed under load is 20 mm/s, measured force is 24 N and positioning accuracy is 0.1 mm. The rotational motor measures Ø30x32 mm (excluding axles) and has step sizes 10° and 12.9°. Under load its maximum angular speed is 229 °/s or 38.2 RPM, maximum torque is 74 N mm and positioning accuracy is 1°. By operating the valves in a coordinated way high-speed and precise position control can be achieved. With these specifications the motors have high potential to actuate MR safe surgical robots.

AB - In breast cancer detection it is essential to perform precise interventions to determine the diagnosis. Robotic systems actuated by MR safe pneumatic stepper motors could improve accuracy to target the tumor. The achievable accuracy or speed is limited due to long pneumatic tubes connecting the motors to the electromagnetic valves in the control room. This paper presents the design of two dual-speed stepper motors in order to solve this limitation.The linear motor measures 50x32x14 mm (excluding racks) and has step sizes 1.7 mm and 0.3 mm. The maximum speed under load is 20 mm/s, measured force is 24 N and positioning accuracy is 0.1 mm. The rotational motor measures Ø30x32 mm (excluding axles) and has step sizes 10° and 12.9°. Under load its maximum angular speed is 229 °/s or 38.2 RPM, maximum torque is 74 N mm and positioning accuracy is 1°. By operating the valves in a coordinated way high-speed and precise position control can be achieved. With these specifications the motors have high potential to actuate MR safe surgical robots.

M3 - Paper

ER -

Groenhuis V, Siepel FJ, Stramigioli S. Dual-Speed MR Safe Pneumatic Stepper Motors. 2018. Paper presented at Robotics: Science and Systems 2018, Pittsburgh, United States.