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GPC Y ASOCIADOS S.A.

Veléz Sarsfield 201640 Martinez

Buenos Aires

Tel.: +54 (9) 11 5993 8719

info@gpcasoc.com.ar

Horne Technologies cc

PO Box 536

Betty's Bay, 7141

Tel.: +27 (0)76 563 2084

info@hornet.cc

www.hornetechnologies.co.za

FAULHABER MINIMOTOR SA

Zona Artigianale 8, Madonna del Piano

6980 Croglio

Tel.: +41 (0)91 611 31 00

info@faulhaber.ch

Building of FAULHABER MICROMO LLC, Wien, Austria

FAULHABER MICROMO LLC

14881 Evergreen Avenue

Clearwater, FL 33762-3008

Tel.: +1 (727) 572 0131

marketing@micromo.com

www.faulhaberUSA.com

NRC Engineering & Precision Drives Co., Ltd.

17F., No. 890, Jingguo Rd., Luzhu Dist.

Taoyuan City 33858, Taiwan, R.O.C.

Tel.: +886 (0) 3-316-1838

info@nrc.com.tw

www.nrc-precidrives.com

EDEL Teknoloji Sistemleri Sanayi ve Ticaret Ltd.Şti

Folkart TowersAdalet Mah.Manas Blv. No:47B/2809

35530 Bayraklı/İzmir

Tel.: + 90 232 215 08 91

info@edelteknoloji.com

www.edelteknoloji.com

FAULHABER Asia Pacific Pte Ltd.

Blk 67 Ubi Road 1, #06-07 Oxley Bizhub

Singapore 408730

Tel.: +65 6562 8270

info@faulhaber.com.sg

Compotech Provider AP

Gustavslundsvägen 145, 4 tr

167 51 Bromma

Tel.: +46 (0) 8 441 58 00

info@compotech.se

www.compotech.se

MICROPRIVOD Ltd.

56 (bldg. 32), Shosse Enthusiastov

111123 Moscow

Tel.: +7 495 2214 052

info@microprivod.ru

www.microprivod.ru

FAULHABER Polska sp. z o.o.

Ul. Górki 7

60-204 Poznan

Tel.: +48 61 278 72 53

info@faulhaber.pl

Staubo Elektro-Maskin a.s.

Bjørnerudveien 12C

1266 Oslo

Tel.: +47 22 75 35 00

post@staubo.no

www.staubo.no

FAULHABER Malaysia Sdn Bhd

1A-2-01 & 02 · One Precinct · Lengkok Mayang Pasir

11950 Bayan Baru · Penang · Malaysia

Tel.: +60 4 619 2570

info@faulhaber.my

Swiss Amiet Co., Ltd.

W-903, SK V1 Center, 11 Dangsan-ro 41-g

Yeongdeungpo-gu,07217, Seoul

Tel.: +82 (0) 2 783 4774

info@swissamiet.com

www.swissamiet.com

Shinkoh Electronics Co., Ltd.

Tokyo Sales Office, Motor Sales Division8F, REID-C OMORI building, 6-20-8

Minami-oi, Shinagawa-ku, Tokyo 140-0013

Tel.: +81 (0) 3 6404 1003

motor-info@shinkoh-elecs.co.jp

www.shinkoh-faulhaber.jp

FAULHABER Italia S.r.l.

Via Cavour 2

22074 Lomazzo CO

Tel.: +39 0236714708

info@faulhaber-italia.it

Inteltek Automation JV

S.No. 100/5, Ambegaon

Pune - 411046

Tel.: +91 (0) 20 39392150

info@inteltekindia.com

www.inteltekindia.com

Lewenstein Technologies Ltd.

1 Ha'arava St. Givat Shmuel

5400804 Israel

Tel.: +972 3 9780 800

info@l-tech.co.il

www.l-tech.co.il

Electro Mechanical Systems Ltd.

Eros House, Calleva Industrial Park, Aldermaston

Reading, RG7 8LN

Tel.: +44 (0) 118 9817 391

info@ems-ltd.com

www.ems-limited.co.uk

FAULHABER France SAS

Parc d’activités du Pas du Lac2, Rue Michaël Faraday

78180 Montigny-le-Bretonneux

Tel.: +33 (0) 1 30 80 45 00

info@faulhaber-france.fr

www.faulhaber.com

ELMEQ Motor

Passeig Ferrocarrils Catalans 178

Cornellà de Llobregat 08940 (Barcelona)

Tel.: +34 93 422 70 33

marketing@elmeq.es

www.elmeq.es

MOVETEC OY

Suokalliontie 9

01740 Vantaa

Tel.: +358 (0) 9 5259 230

info@movetec.fi

www.movetec.fi

Routech s.r.o.

Dr. Milady Horákové 185/66

460 06 Liberec

Tel.: +420 489 202 971

info@routech.cz

www.routech.cz

Compower ApS

Marielundvej 29

2730 Herlev

Tel.: +45 (0) 44 92 66 20

info@compower.dk

www.compower.dk

Marte Científica e Instrumentação Industrial Ltda

Av Fco Andrade Ribeiro 430

37540-000 Santa Rita do Sapucai, MG

Tel.: +55 (11) 3411 4500

motores@marte.com.br

www.marte.com.br

FAULHABER Drive System Technology (Taicang) Co., Ltd.

Eastern Block, Incubator Building, No. 6 Beijing Road West

Taicang 215400, Jiangsu Province

Tel.: +86 (0) 512 5337 2626

info@faulhaber.cn

FAULHABER Benelux B.V.

High Tech Campus 9

5656 AE Eindhoven

Tel.: +31 (0) 40 85155-40

info@faulhaber.nl

FAULHABER Benelux B.V.

High Tech Campus 9

5656 AE Eindhoven

Tel.: +31 (0) 40 85155-40

info@faulhaber.be

FAULHABER Austria GmbH

Modecenterstraße 22/C89

1030 Wien

Tel.: +43 1 7963149-0

info@faulhaber-austria.at

ERNTEC Pty. Ltd.

15 Koornang Road

Scoresby, VIC 3179

Tel.: +61 (0) 3 9756 4000

sales@erntec.com.au

www.erntec.net

Headquarter

DR. FRITZ FAULHABER GMBH & CO. KG

Daimlerstr. 23

71101 Schönaich

Tel.: +49 7031 638 0

Fax: +49 7031 638 100

info@faulhaber.de

www.faulhaber.com

Jan-Christopher Mohr

Area Sales Manager

Tel.: +49 (7031) 638 158

jan-christopher.mohr@faulhaber.de

Daniel Brönnimann

Area Sales Manager

Tel.: +41 (0) 79 570 0814

daniel.broennimann@faulhaber.ch

Rolf Leitner

Regional Sales Manager

Tel.: +41 (0) 79 422 3348

rolf.leitner@faulhaber.ch

Michael Schütte

Area Sales Manager

Tel.: +49 (7031) 638 456

michael.schuette@faulhaber.de

Beijing Office

East 10H3 Wu Mart Huike Mansion Building, No. 158 W. 4th Ring Road North

Haidian District, Beijing 100097

Tel.: +86 (0)10 5335 9353

info@faulhaber.cn

Guangzhou Office

Room 1415, No. 5 Fuchang Road

Haizhu District, Guangzhou, 510240, Guangdong Province

Tel.: +86 (0) 20 3424 8332

Fax: +86 (0) 20 3424 8332

info@faulhaber.cn

Xi‘an Office

Room A-509, No. 318 Yanta Road South

Qujiang New District, Xi’an 710061, Shaanxi Province

Tel.: +86 (0) 29 8521 2778

Fax: +86 (0) 29 8521 2778

info@faulhaber.cn

Hong Kong Office

Unit 4, 19/F, Ricky Centre, 36 Chong Yip Street

Kwun Tong, Kowloon

Tel.: +852 3520 2078

Fax: +852 3914 7452

info@faulhaber.cn

Brushless motor in High-tech medical robotic assistant

Not only is TMS a useful tool in neuroscientific research, it is also used in the diagnosis and treatment of neurological and psychological illnesses, particularly with depression. With this technology, a strong magnetic field is produced in the cerebral cortex. This magnetic field can be used to stimulate or inhibit the electrical activity of the neurons.

The coil that produces the focussed magnetic field must be exactly and reproducibly positioned and directed at the correct points in the brain. With this in mind, the French company Axilum Robotix, together with their partner Streb & Weil, developed the world’s first robotic assistant specifically for TMS. The system positions the TMS coil very precisely and safely on parts of the brain which are specifically defined for each patient in advance. With the goal of producing a compact and precise device, the developers worked together with the application engineers from FAULHABER to create a drive which can achieve highly reproducible positioning through the integration of zero backlash gearheads in the guide arm for the coil.

Brushless motor in High-tech medical robotic assistant
The control system and high-performance motors facilitate the precise and dynamic positioning of the TMS coil

New medical method

The first transcranial magnetic stimulations were performed by doctor and physicist Jacques-Arsène d’Arsonval at the end of the 19th century at the Collège de France in Paris. At the University of Sheffield, Anthony Barker worked on the modern version of the transcranial magnetic stimulation in 1985. Considerably smaller coils that stimulate only a small region of the cerebral cortex improved the results. Magnetic stimulation of the part of the cortex located near the cranium is today performed with nearly no discomfort for the test subjects or patients. However, the small coils require highly precise positioning of the magnetic field source. The principle is simple: a TMS coil, which is connected to a stimulator, is positioned tangentially on the cranium and delivers a magnetic field with a strength of up to 3 tesla for a few milliseconds. The resulting change in electrical potential in the part of the cortex located near the cranium causes a depolarisation of neurons and the triggering of action potentials. The strength of this electric field decreases exponentially with distance to the coil. This decrease is another reason for placing the coil as close as possible to the brain area that is to be stimulated, i.e., in direct contact with the cranium, without reducing the precision of the positioning.

Brushless motor in High-tech medical robotic assistant
Compact system design thanks to the small size of the FAULHABER drives

Compact robot guides the coil

Starting from these requirements, the experts from France developed a robot that can very precisely and reproducibly position the TMS coil around the head of the test subject. The patient sits in a comfortable, electrically adjustable chair with head rest to minimize head movements. The robot is controlled by a neuronavigation system, whereby an optical monitoring system is used to detect and compensate for any head movements. The coil is equipped with a contact sensor and can thereby be safely brought into contact with the cranium.

The hemispherical structure of the robot arm with seven axes guarantees good accessibility. The gearheads and drives are located as close as possible to the axes. The power regulators are also placed very close to the drives to ensure the shortest possible connection to motor and encoder. The power regu­lators are equipped with shared power supply and bus connection for communication with the control and operating system (central processing unit with processor). In addition, the control and operating system performs safety management for, among other things, emergency stopping as well as all primary control tasks, such as the calculation of the kinematics of the robot arm, position control with the help of the contact sensor, etc.

Due to technical and medical restrictions, the gear motors and their actuators must meet special requirements. The pulsed magnetic fields, which are emitted by the TMS coil, require very high EMC immunity (electromagnetic compatibility) at the height of the robot arm. The electronic unit generally produces only very low emissions in order to keep from interfering with nearby medical devices. The lines must therefore be as short as possible and be shielded to eliminate data errors caused by the therapeutic magnetic fields. Shielding of the cables is also important, as they will otherwise act as antennas and can interfere with other devices. To quickly compensate for head movements, the motors must have a high starting torque and yet not overheat. Encoders with high resolution and gearheads with reduced backlash ensure precise positioning.

Brushless motor in High-tech medical robotic assistant
The world’s first TMS robotic assistant for targeted magnetic stimulation of the cerebral cortex

In Detail

In practice, the robot specialists use various brushless motors in the arm. These motors are dimensioned so that they can deliver the required torque and still be as small as possible. Consequentially, two 44 mm motors and four 32 mm motors are housed in the robot arm. There is also a 22 mm gear motor consisting of motor and planetary gearhead of appropriate diameter. The small, four-pole motor delivers about 9 W and its encoder generates 1,024 pulses per revo­lution, thereby yielding a resolution of 4,096 points per revolution. Together with the reduction of the three-stage, planetary gearhead of 86:1, this results in a very high resolution of the rotary movement and enables highly precise coil positioning. The six larger motors deliver 33 or 210 W at the output shaft and are also equipped with high-resolution encoders. Pretensioned, maintenance-free ball bearings ensure a long, backlash-free operating life. In addition to the special requirements of the TMS with regard to safety and compliance with standards, the drives satisfy all conditions for use in the medical sector.

To optimally match the drives to the special conditions, the engineers from Axilum worked closely together with the specialists from FAULHABER. As a result, they were together able to quickly clarify questions regarding electromagnetic compatibility, cable lengths and shielding and integrate special plug connectors. This approach accelerated the development and testing of the TMS robot without needing to make compromises in safety or reliability.

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