Extensive testing and evaluation have confirmed that the use of the fMRI-compatible robot does not cause any image artefacts and that it can be safely used in a fMRI environment. Since the Phantom haptic robot includes some ferromagnetic parts, we labeled the system as MR- conditional. This only means that some extra caution is needed when installing the system inside an examination room. We believe that the fMRI-compatible haptic robot is the tool of the future. The technical specifications of the system are listed below:
- Hardware included: extension and frame
-
Software included: Matlab/Simulink based robotic library Robotica
- Tested with fMRI scanners with a magnetic field density up to: 3 T
-
Number of DOFs (Degrees Of Freedom): 3
- Available workspace: 380 mm x 260 mm x 190 mm
-
Exertable force: 1.4 N (continuous and 8.5 N maximal)
- Added moving mass: 204 g (compared to haptic robot without extension in z direction)
-
Added inertia: 31.3 g m2 (compared to haptic robot without extension in x, y directions)
- Minimal stiffness : 290 N/m (in x, y directions)
-
Total weight of the system: 21 kg (including frame, extension and the Phantom)
|
