The Design of High Precision Parallel Mechanisms using Binary Actuation and Elastic Averaging: With Application to MRI Cancer Treatment

نویسندگان

  • L. M. DeVita
  • J. S. Plante
  • S. Dubowsky
چکیده

In this paper, high precision is achieved in bistable actuated parallel mechanisms using a method called Elastic Averaging. The method is applied to a robotic device for performing biopsy and treatment for prostate cancer therapy within the bore of a Magnetic Resonance Imaging (MRI) system. The analysis and simulations show that this methodology is able to accommodate the characteristics of dielectric elastomer actuators that have been shown to function well within the high magnetic fields of the MRI. Currently an experimental prototype of the system is being developed. Other applications include various forms of cancer detection and treatment, endovascular surgery, spinal procedures and other procedures that require precise needle placement within an MRI.

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تاریخ انتشار 2010