Special Section Technical Briefs

Magnetic Resonance Imaging Compatible Pneumatic Stepper Motor With Geneva Drive1

[+] Author and Article Information
Adam Wineland, Yue Chen, Zion Tsz Ho Tse

Medical Robotics Laboratory,
College of Engineering,
The University of Georgia,
Athens, GA 30602

DOI: 10.1115/1.4033244Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online May 12, 2016. Editor: William Durfee.

J. Med. Devices 10(2), 020950 (May 12, 2016) (2 pages) Paper No: MED-16-1172; doi: 10.1115/1.4033244 History: Received March 01, 2016; Revised March 17, 2016

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McRobbie, D. W. , Moore, E. A. , Graves, M. J. , and Prince, M. R. , 2006, MRI from Picture to Proton, Cambridge University Press, Cambridge, UK.
Sajima, H. , Kamiuchi, H. , Kuwana, K. , Dohi, T. , and Masamune, K. , 2012, “ MR-Safe Pneumatic Rotation Stepping Actuator,” J. Rob. Mechatronics, 24(5), pp. 820–827. [CrossRef]
Stoianovici, D. , Patriciu, A. , Petrisor, D. , Mazilu, D. , and Kavoussi, L. , 2007, “ A New Type of Motor: Pneumatic Step Motor,” IEEE/ASME Trans. Mechatron., Vol. 12(1), pp. 98–106. [CrossRef]
Chen, Y. , Kwok, K.-W. , and Tse, Z. T. H. , 2014, “ An MR-Conditional High-Torque Pneumatic Stepper Motor for MRI-Guided and Robot-Assisted Intervention,” Ann. Biomed. Eng., 42(9), pp. 1823–1833. [CrossRef] [PubMed]


Grahic Jump Location
Fig. 1

To the right of the housing: a continuous pneumatic motor with planetary gearbox. Inside the housing: a cam, LEGO pneumatic switches, LEGO pneumatic cylinders, and a Geneva drive. To the left of the housing: a second planetary gearbox.

Grahic Jump Location
Fig. 2

(a) The cam is pushing the switch closed. The Geneva driving gear's pin is exiting the driven gear. (b) The cam has pushed the switch closed, stopping air flow to the motor. The Geneva gears have stopped.

Grahic Jump Location
Fig. 3

The interior view of the control electronics is shown. To the left are two three-way valves to operate the cylinders. The DAQ card is at the top right. The circuit board that drives the valves is at the bottom right.

Grahic Jump Location
Fig. 4

The relationship between target angle and accuracy is shown. Each line represents a different rotational speed. The motor by Chen et al. is shown for comparison.

Grahic Jump Location
Fig. 5

The relationship between load and rotational speed for 60 psi and 50 psi is shown. The shaded area denotes the optimal operating load and speed.



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