The SPA, a new miniature MRI-compatible Stepping Piezo...
Transcript of The SPA, a new miniature MRI-compatible Stepping Piezo...
![Page 1: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/1.jpg)
The SPA, a new miniature MRI-compatible Stepping Piezo Actuator for Bio Medical Applications
Frank Claeyssen1, Christian Belly1, Hervé Mathieu2,3,4
06/04/2011
1 Cedrat Technologies, Grenoble, France2 INSERM, U836 , Grenoble, France3 University Joseph Fourier , Grenoble, France4 MRI facility, Grenoble, France
FORUM INNOVATIONS FOR INDUSTRY – AT MICRONANOTEC.
![Page 2: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/2.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 2
Outline
Stepping Piezo Actuator (SPA) concept
SPA30uXS
MRI compatibilityThree rulesMRI test benchExperimental results
Conclusions
![Page 3: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/3.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 3
Piezoelectricity?
A link between voltage and mechanical stressDirect effect : SensorReverse effect : Actuator
Amplified Piezo Actuator
![Page 4: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/4.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 4
Linear piezo motorLong stroke (several millimeters)High resolution (nanometer range)
Components:
Mass APA (piezo) Rod Clamp
SPA60SM based on APA60SMSPA Structure
What is the Stepping Piezo Actuator ?
APA60SM
![Page 5: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/5.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 5
How does the SPA work?
2 working modesStepping mode Stick and slip
Slow contraction Fast expansion
Long stroke
Deformation mode Standard use of Amplified Actuator Nanometric resolution
Sticking
SlidingDis
plac
emen
t
Time
Volta
ge
![Page 6: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/6.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 6
Prototypes
SPA30uXSMass: 2 gramsLess than 500 mm3
Stroke = 4mmResolution < 5nmSpeed : from 0 to 70 mm/sForce : Up to 0,2 N
SPA30uXS versus a 1 Euro Cent coin
![Page 7: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/7.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 7
MRI compatibility
Three MRI compatibility rulesSafetyInvisibilityImperturbability
![Page 8: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/8.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 8
MRI compatibility
Three MRI compatibility rulesSafety: Must not be attracted Non magnetic actuator Tests performed into an MRI 4,7 Tesla magnet
These tests have been performed on Small Animals platform, INSERM Grenoble, France
![Page 9: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/9.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 9
MRI compatibility
Three MRI compatibility rulesSafetyInvisibility: Must not trouble MRI scanner and images Tests performed into an MRI 4,7 Tesla magnet
« Phantom »,Area tested
Reception antenna
MRI scanner
![Page 10: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/10.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 10
MRI compatibility
Three MRI compatibility rulesSafetyInvisibility: Must not trouble MRI scanner and images Examples of image distortion:
Inox screw replaced by Titanium screw Antenna phenomenon caused by wires
Distortion caused by inox screw Antenna phenomenon with wires
![Page 11: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/11.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 11
MRI compatibility
Three MRI compatibility rulesSafetyInvisibility: Must not trouble MRI scanner and images SNR measurement on phantom, realized on 20 images Without motor : 55.9 with standard variation of 2.5 With motor : 55.7 with standard variation of 2.5
Actuator position (dot) against measured position (dashed)
![Page 12: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/12.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 12
MRI compatibility
Three MRI compatibility rulesSafetyInvisibility: Must not trouble MRI scanner and images SNR measurement on rat, realized on 10 images Without motor : 33.6 with standard variation of 1.8 With motor : 32.5 with standard variation of 3.1
Rat
Motor
![Page 13: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/13.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 13
MRI compatibility
Three MRI compatibility rulesSafetyInvisibilityImperturbability : Must keep performances within MRI Scanner Adapted test bench Axial tool motion simulation No adapted sensor Use of Cine-Flash images MRI high vertical resolution (20µm) 1 Image/350ms
![Page 14: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/14.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 14
MRI compatibility
Three MRI compatibility rulesSafetyInvisibilityImperturbability : Must keep its performances under magnetic field No measured perturbation from the high magnetic field
Reconstructed sequence
![Page 15: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/15.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 15
Conclusion (1)
SPA30uXS quick facts
Large linear speed range (from 0 to 70 mm/s)Large linear force (up to 30 grams force)Holding force with no consumption (80gr force)
MRI-compatible Safety Invisibility Imperturbability
Bio Med Applications in progress Medical implants Robotic surgery
![Page 16: The SPA, a new miniature MRI-compatible Stepping Piezo ...media.ivam.de/mikrotechnik-11/pdf/06_1100__Cedrat_Technologies.pdf · The SPA, a new miniature MRI-compatible Stepping Piezo](https://reader033.fdocuments.in/reader033/viewer/2022051801/5adce2377f8b9aeb668c1c7e/html5/thumbnails/16.jpg)
Hannover Messe 2011 / Innovation Forum / SPA : MRI-compatible actuator for Bio Med 16
Conclusion (2)
SPA30uXS commercial availabilityStand alone motorDeveloper Kit including Motor Position sensor Controller PC interface
Customised piezo motorsLarger-force linear motors SPA40SM Driving force = 20N
Rotational motors RSPA30uXS
Please visit CEDRAT booth at H2 D55