Transient Thermal Modeling of an Axial Flux Permanent Magnet (AFPM) Machine Using a Hybrid Thermal Model

This paper presents the development of a hybrid thermal model for the EVO Electric AFM 140 Axial Flux Permanent Magnet (AFPM) machine as used in hybrid and electric vehicles. The adopted approach is based on a hybrid lumped parameter and finite difference method. The proposed method divides each motor component into regular elements which are connected together in a thermal resistance network representing all the physical connections in all three dimensions. The element shape and size are chosen according to the component geometry to ensure consistency. The fluid domain is lumped into one region with averaged heat transfer parameters connecting it to the solid domain. Some model parameters are obtained from Computation Fluid Dynamic (CFD) simulation and empirical data. The hybrid thermal model is described by a set of coupled linear first order differential equations which is discretised and solved iteratively to obtain the temperature profile. The computation involved is low and thus the model is suitable for transient temperature predictions. The maximum error in temperature prediction is 3.4% and the mean error is consistently lower than the mean error due to uncertainty in measurements. The details of the model development, temperature predictions and suggestions for design improvements are presented in this paper.Accepted versio

A review of magnetic resonance imaging compatible manipulators in surgery.

Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products

A 3-DOF MR-compatible device for magic angle related in vivo experiments

The "magic angle" effect consists of the increase in signal intensity observed at a tendon or cartilage in a magnetic resonance image, when the tissue is oriented at an angle of approximately 55deg with respect to the main magnetic field B0. The exploitation of this phenomenon is often used to assist diagnosis of tendinous and other diseases, although practical difficulties derived from positioning target tissue at the desired orientation inside closed-bore scanners has made this exploitation hard to implement. A 3-DOF MR-compatible mechatronic system has been developed to position a variety of limbs at the magic angle inside a closed- bore scanner, actuated by a custom-developed pneumatic air motor. The system is capable of locating the desired anatomy with high accuracy, and is designed to position the target tissue at a minimal distance from the isocenter. The compatibility of the system is demonstrated, producing negligible artifacts and an insignificant reduction in signal to noise of the image. Preliminary clinical trials scanning the Achilles tendon of healthy volunteers prove the functionality of the device. An increase in signal intensity of up to 21-fold has been recorded in the tendon at the magic angle

A modular approach to MRI-compatible robotics: using robotic modules with interconnectable 1-DoF stages

The objective of the research described in this article is to create individual MR-compatible modules consisting of 1-DoF stages complete with actuators and position encoders for implementation of the closed-loop position control. These modules can connect together to form multi-DoF assemblies that can be located inside the scanner bore near to the patient anatomy that requires the intervention. This avoids the problems associated with remote actuation and transmission mechanisms, considerably reducing the size of the manipulator. As most robots consist of kinematic chains of 1-DoF stages, these modules would be suitable for a wide range of interventions, and their design can be optimized for the procedure for which they are applied to

Robotic system for transrectal biopsy of the prostate: real-time guidance under MRI

In this paper, to harness the possibility of real-time guidance of MRI, a robotic system has been developed to perform transrectal prostate biopsy inside a 1.5-T closed bore scanner. A specially developed MR pulse sequence is capable of tracking the needle location in real time while dynamically updating the scan planes to always include the needle and target