Abstract
A prototype master-slave system consisting of two MR-compatible manipulators with interchangeable surgical tools was designed, implemented, and evaluated. The manipulators are designed so as to fit into vertical-magnetic- field open-configuration MR imagers. They are also designed so that the surgical tool mounted at the tip of their arm is interchangeable. The MR compatibility of the manipulator including a surgical tool was evaluated by moving it close to a phantom in the field of view of an open-configuration MR imager. No noticeable deformation, but deterioration in the signal-to-noise ratio of approximately 10 percent, was observed in the MR images. Consulted clinicians then evaluated the manipulability of the master-slave system by maneuvering a pair of slave manipulators through an operation input device consisting of a pair of master manipulators. After several minutes of trial and error, they could perform each primitive motion for suturing tasks on training material mimicking human tissue.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 2505-2510 |
| Number of pages | 6 |
| Volume | 2004 |
| Edition | 3 |
| Publication status | Published - 2004 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 2004 Apr 26 → 2004 May 1 |
Other
| Other | Proceedings- 2004 IEEE International Conference on Robotics and Automation |
|---|---|
| Country/Territory | United States |
| City | New Orleans, LA |
| Period | 04/4/26 → 04/5/1 |
Keywords
- Diagnosis
- Master-slave manipulator
- MRI
- Surgical tools
- Surgical treatment
ASJC Scopus subject areas
- Software
- Control and Systems Engineering