Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs of SMT-actuated one-degree-of-freedom (DoF) and two-degree-of-freedom positioning manipulators, and report experiment studies to assess their performance. In these studies, closed-loop position control was performed with a PI controller and/or master-slave control. With braided PTFE tubing, SMT exhibited sub-millimeter accuracy, with a tolerance of ±0.05 mm for the tested transmission lines with lengths up to 4m.

Magnetic resonance imaging (MRI)-guided, manipulator-assisted interventions have the potential to improve patient outcomes. This work presents a force transmission mechanism, called solid-media transmission (SMT), for actuating manipulators inside MRI scanners. The SMT mechanism is based on conduits filled with spheres and spacers made of a nonmagnetic, nonconductive material that forms a backbone for bidirectional transmission. Early modeling and experimental studies assessed SMT and identified limitations and improvements. Simulations demonstrated the detrimental role of friction, which can be alleviated with a choice of low friction material and long spacers. However, the length of the spacer is limited by the desired bending of the conduit. A closed-loop control law was implemented to drive the SMT. The 3rd order system fit ratio is 92.3%. A 1-m long SMT was experimentally tested under this closed-loop controller with heuristically set parameters using a customized benchtop setup. For commanded displacements of 1 to 50 mm, the SMT-actuated 1 degree of freedom stage exhibited sub-millimeter accuracy, which ranged from 0.109 ± 0:057 mm to 0.045 ± 0.029 mm depending on the commanded displacement. However, such accuracy required long control times inversely proportional to displacement ranging from 7.56 ± 1.85s to 2.53 ± 0.11s. This was attributed to friction as well as backlash which is due to suboptimal packing of the media. In MR studies, a 4-m long SMT-actuated 1 DoF manipulator was powered by a servo motor located inside the scanner room but outside the 5 Gauss line of the magnet. With shielding and filtering, the SNR of MR images during the operation of the servo motor and SMT- actuation was found to be 89 ± 9% of the control case.