A prototype master-slave system consisting of two MR-compatible manipulators with interchangeable surgical tools: Part of a unified support system for diagnosis and treatment

F. Tajima, K. Kishi, K. Nishizawa, K. Kan, H. Ishii, K. Sudo, M. G. Fujie, T. Dohi, S. Takamoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    13 Citations (Scopus)

    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 languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2505-2510
    Number of pages6
    Volume2004
    Edition3
    Publication statusPublished - 2004
    EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
    Duration: 2004 Apr 262004 May 1

    Other

    OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
    CountryUnited States
    CityNew Orleans, LA
    Period04/4/2604/5/1

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    Keywords

    • Diagnosis
    • Master-slave manipulator
    • MRI
    • Surgical tools
    • Surgical treatment

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Tajima, F., Kishi, K., Nishizawa, K., Kan, K., Ishii, H., Sudo, K., Fujie, M. G., Dohi, T., & Takamoto, S. (2004). A prototype master-slave system consisting of two MR-compatible manipulators with interchangeable surgical tools: Part of a unified support system for diagnosis and treatment. In Proceedings - IEEE International Conference on Robotics and Automation (3 ed., Vol. 2004, pp. 2505-2510)