Machine vision based fiber optic joint sensor for MR-compatible robot

Abstract

In the last 10 years, computer-integrated surgery has become a very important area of research in medical technology. Robotics is one of the most increased technologies. The benefits of robotics are, among other things, better accuracy and faster healing process in surgical operations. Imaging technologies have also helped doctors to analyze their patients with greater precision. The accuracy of imaging systems is constantly increasing. When a robot is developed for the MR environment, magnetic properties become very important. Electric equipment produces magnetic fields that can harm the picture quality in the MRI. This paper introduces the basis of a sensor that can replace the normal angle sensor in a robot's joint. Because of the use of fiber optics, the prototype sensor is neither magnetic nor electric for a given distance. By replacing the normal angle sensor with a prototype sensor, it is possible to accomplish robot joints and arms which are MR-compatible and therefore can operate inside different MRIs. The robot joint has to be provided with a sensor because the accurate control of the joint is crucial. This new sensor can be used to improve MR compatibility of the robot at any level of magnetic fields. There are no parts that move or wear in the sensor either.