Dual-Speed MR Safe Pneumatic Stepper Motors

Vincent  Groenhuis; Françoise Jeanette Siepel; Stefano  Stramigioli

Dual-Speed MR Safe Pneumatic Stepper Motors

Vincent Groenhuis, Françoise Jeanette Siepel, Stefano Stramigioli

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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 language	English
Number of pages	8
Publication status	Published - 26 Jun 2018
Event	Robotics: Science and Systems 2018 - Carnegie Music Hall, Pittsburgh, United States Duration: 26 Jun 2018 → 30 Jun 2018 http://roboticsconference.org/

Conference

Conference	Robotics: Science and Systems 2018
Abbreviated title	RSS 2018
Country/Territory	United States
City	Pittsburgh
Period	26/06/18 → 30/06/18
Internet address	http://roboticsconference.org/

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Cite this

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title = "Dual-Speed MR Safe Pneumatic Stepper Motors",

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 {\O}30x32 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.",

author = "Vincent Groenhuis and Siepel, {Fran{\c c}oise Jeanette} and Stefano Stramigioli",

year = "2018",

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T1 - Dual-Speed MR Safe Pneumatic Stepper Motors

AU - Groenhuis, Vincent

AU - Siepel, Françoise Jeanette

AU - Stramigioli, Stefano

PY - 2018/6/26

Y1 - 2018/6/26

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

T2 - Robotics: Science and Systems 2018

Y2 - 26 June 2018 through 30 June 2018

ER -

Dual-Speed MR Safe Pneumatic Stepper Motors

Abstract

Conference

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