An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors
Shaoping Huang Anzhu Gao Zicong Wu Chuqian Lou Yanjun Wang Guang-Zhong Yang Shaoping Huang Anzhu Gao Zicong Wu Chuqian Lou Yanjun Wang Guang-Zhong Yang
MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentric sheave and FBG sensors. The eccentric sheave transforms the rotational motion of the shaft to the ...