Background

Magnetic resonance imaging (MRI) allows to observe chemical and biochemical
processes in living systems. In addition to its importance for
medical imaging and diagnostics, it finds increasing applications in other
domains, including chemical engineering, life science research, and materials
science. In this context, the need often arises to manipulate the
sample in some way in order to implement an experimental protocol. However,
automation in the active volume of an MRI scanner is challenging
due to the very high magnetic field, which complicates the use of servo
actuators, and due to the space constraints.

Goals

The objective of this Master project is to design and test a protoype for
a robotic manipulator that can operate with high accuracy, reliability, and
speed inside of an MRI scanner.

Approach

The project will develop in three phases:

1. Develop and model a kinematic for a robotic arm that can be operated in the confines of an MRI magnet
2. Design and build a prototype initially for operation outside the magnet; characterize its performance
3. Design and build a final version, and demonstrate operation in an active MRI system.

It is expected that the successful project leads to at least one publication
in an internationally peer-reviewed journal.

Requirements

You are a curious mechanical or electrical engineer who brings along the
necessary analytical skills to detail the kinematics and kinetics of a manipulator,
and practical skills to prototype it as a microcontroller application.

Supervision

Prof. Dr. Marcel Utz (marcel.utz∂kit.edu)
Prof. Dr. Jan G. Korvink (jan.korvink∂kit.edu)

Available Start date is negotiable from 1.1.2024