IEEE International Conference on Robotics and Automation (ICRA) におけるフルードパワー技術の研究動向

Magnetically coupled resonance wireless power transfer systems (MCR WPT) have been developed in recent years. There are several key benefits of such systems, including dispensing with power cords, being able to charge multiple devices simultaneously, and having a wide power range. Hence, WPT systems have been used to supply the power for many applications, such as electric vehicles (EVs), implantable medical devices (IMDs), consumer electronics, etc. The literature has reported numerous topologies, many structures with misalignment effects, and various standards related to WPT systems; they are usually confusing and difficult to follow. To provide a clearer picture, this paper aims to provide comprehensive classifications for the recent contributions to the current state of MCR WPT. This paper sets a benchmark in order to provide a deep comparison between different WPT systems according to different criteria: (1) compensation topologies; (2) resonator structures with misalignment effects; and, (3) electromagnetic field (EMF) diagnostics and electromagnetic field interference (EMI), including the WPT-related standards and EMI and EMF reduction methods. Finally, WPT systems are arranged according to the application type. In addition, a WPT case study is proposed, an algorithm design is given, and experiments are conducted to validate the results obtained by simulations.

Magnetically Coupled Resonance WPT: Review of Compensation Topologies, Resonator Structures with Misalignment, and EMI Diagnostics

This paper proposes and implements a novel multi-frequency multi-power wireless power transfer (MFMP-WPT) system based on one single transmitter for simultaneously and compatibly energizing multi-standard receivers. Generally, implementing a multi-frequency WPT often requires a compromise in system complexity, control difficulty, switching frequency, or transmission efficiency. By using only a single transmitter with an artful inverter topology, the proposed MFMP-WPT system can effectively achieve multi-frequency multi-magnitude superposition and switching frequency reduction while maintaining the control fitness and convenience of square-wave generation with 50% duty cycle. Moreover, by switching at the fundamental frequency in a range of 80–130 kHz, the single transmitter becomes competent for one-to-many MFMP-WPT operation for diverse wireless power on-demands. Consequently, the fundamental and high-order harmonic wireless energies with multiple power levels can be, respectively, picked up by the multi-standard receivers, depending on their energy requirements. The experimental transmission and system efficiencies can reach 81.57% and 64.74% under MFMP-WPT, respectively. Theoretical analysis, computer simulation, and experimental results are provided to verify the feasibility of the proposed MFMP-WPT system.

Multi-Frequency Multi-Power One-to-Many Wireless Power Transfer System

OBJECTIVES The aim of this split-mouth randomized controlled clinical trial was to compare the deviations of planned and placed implants placed by the assistance of a micron tracker-based dynamic navigation device or freehand methods. MATERIAL AND METHODS A thermoplastic fiducial marker was adapted on the anterior teeth, and cone-beam computerized tomography was used for imaging. A minimum of one implant was planned for each side of the posterior maxilla, and the dynamic navigation device or freehand method was randomly used for surgical insertion. Deviations were measured by matching the planning data with a final CBCT image. Linear deviations (mm) between the planned and placed implants were the primary outcome. The results were analysed by generalized linear mixed models (p < .05). (NCT03471208). RESULTS A total of 92 implants were placed to 32 volunteers, and 86 implants were included in the final analysis. For the linear deviations, mean of differences (Δ) was 0.72mm (Standard deviation (SD): 0.26); (95% Confidence interval (CI): 0.39-1.02) in the shoulder of the implants (p < .001) and 0.69mm (SD: 0.36); (95% CI: 0.19-1.19) in the tip of the implants (p < .001). For the angular deviations, Δ was 5.33° (SD: 1.63); (95% CI: 7.17-3.48); (p < .001). CONCLUSIONS The navigation technique can be used to transfer virtual implant planning to the patient's jaw with increased accuracy.

Accuracy of Dental Implant Placement via Dynamic Navigation or the Freehand method: A Split‐Mouth Randomized Controlled Clinical Trial

Volume and Surface Fractal Dimensions of Pore Structure by NAD and LT-DSC in Calcium Sulfoaluminate Cement Pastes

In wireless power transfer systems, the transmitting coil dimensions can substantially affect the transmission range and alignment sensitivity. We found that a transmitting coil with larger inner and outer diameter has a wider transmission range and lower alignment sensitivity. Thus, we developed a larger coil (24×30 cm2) designed to be embedded in the back of a vest to power DC pumps for artificial hearts or LVADs. To significantly reduce the required voltage, the coil was divided into 8 segments with resonant capacitors. The coil was operated at 6.78 MHz and evaluated with a 5.3-cm diameter receiving coil. A circuit model for the energy coupling coils was developed to predict the output power and efficiency. Having a coil separation of 7.7 cm, the output power and efficiency of the energy coupling coils are higher than 48 W and 80%, respectively. The system was experimentally tested with a DC pump, demonstrating that the proposed coil segmentation technique can significantly reduce the transmitter voltage to a safe level (∼10 Vrms).

Mid-range wireless power transfer with segmented coil transmitters for implantable heart pumps

This paper introduces a robotic manipulator to realize robot-assisted intracardiac catheterization in magnetic resonance imaging (MRI) environment. MRI can offer high-resolution images to visualize soft tissue features such as scars or edema. We hypothesize that robotic catheterization, combined with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety, accuracy, and effectiveness. This is designed particularly for cardiac electrophysiological (EP) intervention, which is an effective treatment of arrhythmia. We present the first MR Safe robot for intracardiac EP intervention. The robot actuation features small hysteresis, effective force transmission, and quick response, which has been experimentally verified for its capability to precisely telemanipulate a standard clinically used EP catheter. We also present timely techniques for real-time positional tracking in MRI and intraoperative image registration, which can be integrated with the presented manipulator to improve the performance of teleoperated robotic catheterization.

MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

In this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot for bilateral stereotactic procedures. Its compact design enables robot's operation within the constrained space of standard imaging head coil. magnetic resonance (MR) safe and high-performance hydraulic transmissions are incorporated. A maximum stiffness coefficient of 24.35 N/mm can be achieved with transmission fluid preloaded at 2 bar. Sufficient targeting accuracy (average within ≤1.73 mm) has been demonstrated in a simulated needle insertion task of deep brain stimulation. A novel MR-based wireless tracking technique is adopted. It is capable of offering real-time and continuous (30-40 Hz) three-dimensional (3-D) localization of robotic instrument under the proper MR tracking sequence. It outperforms the conventional method of using low-contrast passive fiducials that can only be revealed in the MR image domain. Two wireless tracking units/markers are integrated with the robot, which are two miniaturized coil circuits in size of 1.5 × 5 × 0.2 mm
 3
, fabricated on flexible thin films. A navigation test was performed under the standard MRI settings in order to visualize the 3-D localization of the robotic instrument. MRI compatibility test was also carried out to prove the minimal interference to MR images of the presented hydraulic robotic platform.

Ziyan Guo

Papers

Mid-range wireless power transfer with segmented coil transmitters for implantable heart pumps

MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

Compact Design of a Hydraulic Driving Robot for Intraoperative MRI-Guided Bilateral Stereotactic Neurosurgery

Techniques for Stereotactic Neurosurgery: Beyond the Frame, Toward the Intraoperative Magnetic Resonance Imaging–Guided and Robot-Assisted Approaches

A candidate of mechanical energy mitigation system: Dynamic and quasi-static behaviors and mechanisms of zeolite β/water system