Gregory Cole
From WPI Automation and Interventional Medicine (AIM) Robotics Laboratory
- Gregory Cole
- Masters Student
- Department of Mechanical Engineering
- Worcester Polytechnic Institute
- Contact Information
- Lab
- Higgins Lab 045
- 508-831-5191
- Mailing Address
- 100 Institute Road, HL 130
- Worcester, MA 01609
- gcole@wpi.edu
Contents |
Education
- B.E., Mechanical Engineering, Worcester Polytechnic Institute - Worcester, MA 2009
- M.S., Mechanical Engineering, Worcester Polytechnic Institute - Worcester, MA 2009
Research Interests
- MRI robot controller
- MRI-armatures
- MRI compatible robotic systems design
Current Projects
- MRI Compatible Actively Driven Stereotactic Neural Intervention Unit
- Purpose: This device endeavors to allow a surgeon to utilize live MR imaging to guide the position of an actively driven stereotactic needle insertion guide. We hope this will streamline the procedure for stereotactic neural intervention as well as increasing electrode placement accuracy by circumventing many several forms of registration errors, as well as giving the surgeon the ability to track soft tissue deformation in situ.
- Current State:Currently construction of the first fully functional prototype is nearing completion. We hope to begin driving the armature to test for functionality within the next week (as of 9/15/09) and then begin accuracy testing. A photo of an earlier revision of the prototype is shown to the right.
- Future Work:In the future we hope to begin working on selecting more effective materials for the pins and sliding surfaces of the linkage, as well as optimizing the linkage itself for torque and dexterity.
- MRI Compatible Powered Electronics Case:
- Purpose: The purpose of this project is to create a platform for the housing and powering of MRI compatible devices and controllers. The unit has so far been designed to house electronic, pneumatic, and hydraulic devices, while supplying varying levels of AC and DC power.
- Current State: Currently the outer housing of the unit is nearing completion. The unit is designed to have a modular equipment rack inside, that can be removed to allow easier access as well as a hinged top. Models of this unit can be seen to the right.
- Future Work: The next step in the progression of this project is developing an integrated power supply to efficiently deliver varying levels of power without causing interference with the scanner. Many commercially available switching power supplies cause excessive noise when used in the scanner room, and it is my goal to provide a programmable power supply capable of operating highly efficiently.
- Programmable Piezo-electric Motor Driver:
- Purpose:To create an MR compatible modular device capable of being controlled by a variety of control styles, while having the ability to drive a variety of piezo electric motors with highly specific arbitrary waveforms.
- Current State: Currently a fully functional prototype has been assembled and is being tested. Several component footprint errors have been found in this version of the board, though simple fixes have maintained the boards functionality. The circuit has been tested in an MR scanner and has been shown to contribute minimally to signal to noise ration ( <2% in all tested imaging modalities, not statistically detectable in most)
- Future Work: In the future we hope to produce another revision of the board addressing the PCB errors as well as some design issues. Additionally, work is being done on designing a daughter card that will replace the linear regulators the board with a higher efficiency voltage converter.
Publications
- Dr. James Van De Ven, Gregory Cole. International Energy Conversion Engineering Conference 2008 - "Designs Towards a Liquid Piston Stirling Engine"
- Cole G., Pilitsis J., Fischer G. International Conference of Robotics and Automation 2009 - "Design of a Robotic System for MRI-Guided Deep Brain Stimulation Electrode Placement"
- Wang Y, Cole G., Su H., Fischer G. Engineering in Medicine and Biology Conference 2009 - "MRI Compatibility Evaluation of a Piezoelectric Actuator System for a Neural Interventional Robot"
- Cole G., Van De Ven J. ASME International Mechanical Engineering Congress & Exposition 2009 - "Design of a Variable Radius Piston Profile Generating Algorithm"
