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Design Innovation Paper

Design of an MR-safe haptic wrist manipulator for movement disorder diagnostics

[+] Author and Article Information
Dyon Bode

Moog B.V., Pesetaweg 53, Nieuw-Vennep, The Netherlands
dbode@moog.com

Winfred Mugge

Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands; Brain Imaging Center, Academic Medical Center., Meibergdreef 9, 1105 AZ Amsterdam-Zuidoost, The Netherlands
w.mugge@tudelft.nl

Alfred Schouten

Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands; Department of Biomechanical Engineering, MIRA, University of Twente, Drienerlolaan 5, 7522 NB Enschede, The Netherlands
a.c.schouten@tudelft.nl

Anne-Fleur van Rootselaar

Department of Neurology and Clinical Neurophysiology, Academic Medical Center, University of Amsterdam, Brain Imaging Center, Academic Medical Center, Meibergdreef 9, 1105 AZ Amsterdam-Zuidoost, The Netherlands
a.f.vanrootselaar@amc.uva.nl

Lo J. Bour

Department of Neurology and Clinical Neurophysiology, Academic Medical Center, University of Amsterdam, Meibergdreef 9, 1105 AZ Amsterdam-Zuidoost, The Netherlands
bour@amc.uva.nl

Frans C.T. Van der Helm

Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands
f.c.t.vanderhelm@tudelft.nl

Piet Lammertse

Moog B.V., Pesetaweg 53, Nieuw-Vennep, The Netherlands
piet.lammertse@motekforcelink.com

1Corresponding author.

ASME doi:10.1115/1.4037674 History: Received November 07, 2016; Revised August 07, 2017

Abstract

Tremor, characterized by involuntary and rhythmical movements, is the most common movement disorder. Tremor can have peripheral and central oscillatory components which properly assessed may improve diagnostics. An MR-safe haptic wrist manipulator enables simultaneous measurement of proprioceptive reflexes (peripheral) and brain activations (central) through functional MRI. The presented design for an MR-safe haptic wrist manipulator has electro-hydraulic closed-circuit actuation, optical position and force sensing, and consists of exclusively non-conductive and magnetically compatible materials inside the MR-environment. The MR-safe hydraulic actuator, a custom-made plastic vane motor, is connected to magnetic parts and electronics located in the shielded control room via hydraulic hoses and optical fibers. Deliberate internal leakage provides backdriveability, damping and circumvents friction. The manipulator is completely MR-safe and therefore operates safely in any MR-environment while ensuring fMRI imaging quality. Undesired external leakage in the actuator prevented the use of prepressure, limiting the control bandwidth. The compact end effector design fits in the MR-scanner, is easily setup, and can be clamped to the MR-scanner bed. This enables use of the manipulator with the subject at the optimal fMRI location and allows it to be setup quickly, saving costly MR-scanner time. The actuation and sensor solutions performed well inside the MR-environment and did not deteriorate image quality, which allows for various motor control experiments. Enabling prepressure by carrying out the recommendations on fabrication and sealing should improve the bandwidth and fulfill the requirements for proprioceptive reflex identification.

Copyright (c) 2017 by ASME
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