Dielectric Elastomer Jet Valve for Magnetic Resonance Imaging Compatible Robotics

Abstract

This paper presents the design and experimental characterization of a binary jet valve, specifically developed to control an allpolymer needle manipulator during intramagnetic resonance imaging (MRI) prostate interventions (biopsies and brachytherapies). The key feature of the MRIcompatible valve is its compact dualstage configuration. The first stage is composed of a lowfriction jet nozzle, driven by a small rotary dielectric elastomer actuator (DEA). The second stage provides sufficient air flow and stability for the binary robotic application through an independent air supply, activated by a bistable spool. A hyperelastic stressstrain model is used to optimize the geometrical dimensions of the DEA jet assembly. Fully functional valve prototypes, made with 3M's VHB 4905 films, are monitored with a highspeed camera in order to quantify the system's shifting dynamics. The impact of nozzle clearance, dielectric elastomer film viscoelasticity, mechanical friction, and actuator torque generation on overall dynamic behavior of two different valve setups is discussed. Results show an overall shifting time of 200–300 ms when the friction of the nozzle and DEA actuation stretches are minimized. Low shifting time combined with compactness, simplicity, and low cost suggest that the low friction DEAdriven jet valves have great potential for switching a large number of pneumatic circuits in an MRI environment as well as in traditional pneumatic applications.