An MR-compatible master-slave manipulator with interchangeable surgical tools

被引：5

作者：

Tajima, F ^{[1
]}

Kishi, K ^{[1
]}

Kan, K ^{[1
]}

Ishii, H ^{[1
]}

Nishizawa, K ^{[1
]}

Fujie, MG ^{[1
]}

Dohi, T ^{[1
]}

Sudo, K ^{[1
]}

Takamoto, S ^{[1
]}

机构：

[1] Hitachi Ltd, Mech Engn Res Lab, Tsuchiura, Ibaraki 3000013, Japan

来源：

CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS | 2003年 / 1256卷

关键词：

MRI; diagnosis; surgical treatment; master-slave manipulator; surgical tools;

D O I：

10.1016/S0531-5131(03)00212-7

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper describes design, implementation and evaluation of a prototype of magnetic resonance (MR)-compatible master-slave manipulator with interchangeable surgical tools. The manipulator is designed so as to fit vertical-magnetic-field open-configuration MR imagers. Also, it is designed so that the surgical tool at the arm tip is interchangeable. We evaluated MR compatibility of the manipulator including a surgical tool by moving it close to a phantom in the field of view of an open-configuration MR imager. No noticeable deformation, but some signal-to-noise ratio (SNR) deterioration, was observed in the MR images. Consulted clinicians then evaluated its manipulability by maneuvering the master-slave manipulator system. After several-minute trial and error, they could perform each primitive motion for suturing task to training materials. (C) 2003 Published by Elsevier Science B.V.

引用

页码：529 / 537

页数：9