Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners

TL;DR

This paper introduces a novel MRI-compatible series elastic actuator module employing ultrasonic motors and a disturbance observer-based controller, enabling precise force control suitable for MRI-guided interventions.

Contribution

The study presents a new MRI-compatible rotary SEA module with a transmission force sensing architecture and a disturbance observer controller for improved torque regulation.

Findings

Effective torque control in MRI and non-MRI environments

Achieved 0.05s settling time with 2.5% steady-state error

Maintains performance across varying external impedances

Abstract

Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel MRI-compatible rotary series elastic actuator (SEA) module that employs velocity-sourced ultrasonic motors for force-controlled operation within MRI scanners. Unlike prior MRI-compatible SEA designs, our module uses a transmission force sensing SEA architecture, with four off-the-shelf compression springs placed between the gearbox and motor housings. To enable precise torque control, we develop a controller based on a disturbance observer, specifically designed for velocity-sourced motors. This controller improves torque regulation, even under varying external impedance, enhancing the actuator's suitability for MRI-guided medical interventions. Experimental validation confirms effective torque control in both 3 Tesla MRI and non-MRI settings, achieving a 5% settling time of 0.05 seconds and steady-state error within 2.5% of the actuator's maximum output torque. Notably, the controller maintains consistent performance across both low and high impedance conditions.