Design and control of a 1-DOF MRI-compatible pneumatically actuated robot with long transmission lines

IEEE/ASME Transactions on Mechatronics

Volumn 16, Issue 6, 2011, Pages 1040-1048

  Yang, Bo ^a   Tan, U Xuan ^a   McMillan, Alan B ^b   Gullapalli, Rao ^b   Desai, Jaydev P ^a  

^a UNIVERSITY OF MARYLAND   (United States)

^b UNIVERSITY OF MARYLAND SCHOOL OF MEDICINE   (United States)

Author keywords

Long transmission line; MRI; pneumatic actuation; sliding mode control (SMC)

Indexed keywords

BREAST BIOPSIES; BREAST TUMOR; COMPUTED TOMOGRAPHY; DESIGN AND CONTROL; FIRST ORDER SYSTEMS; FORCE BANDWIDTH; FORCE SENSOR; IMAGE DISTORTIONS; IMAGING MODALITY; LONG TRANSMISSION LINES; MRI COMPATIBLE; PNEUMATIC ACTUATION; PNEUMATIC SYSTEM; PNEUMATIC TRANSMISSION LINES; PRECISE POSITION; SLIDING SURFACE; STRONG MAGNETIC FIELDS; TARGETING CAPABILITY; TELEGRAPH EQUATION; VARYING COEFFICIENTS;

BANDPASS FILTERS; BIOPSY; COMPRESSED AIR; COMPUTERIZED TOMOGRAPHY; DELAY CONTROL SYSTEMS; ELECTRIC LINES; FRICTION; IMAGE QUALITY; MACHINE DESIGN; MAGNETIC FIELDS; MAGNETIC RESONANCE IMAGING; NEEDLES; PNEUMATICS; POSITION MEASUREMENT; ROBOTS; SLIDING MODE CONTROL; TELEGRAPH; TOMOGRAPHY; TRANSMISSION LINE THEORY;

POSITION CONTROL;

EID: 80052633529     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2010.2071393     Document Type: Article

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