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

    研究成果: Conference contribution

    13 引用 (Scopus)

    抄録

    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.

    元の言語English
    ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
    ページ2505-2510
    ページ数6
    2004
    エディション3
    出版物ステータスPublished - 2004
    イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
    継続期間: 2004 4 262004 5 1

    Other

    OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
    United States
    New Orleans, LA
    期間04/4/2604/5/1

    Fingerprint

    Manipulators
    Image sensors
    Deterioration
    Signal to noise ratio
    Tissue
    Magnetic fields

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    これを引用

    Tajima, F., Kishi, K., Nishizawa, K., Kan, K., Ishii, H., Sudo, K., ... 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. : Proceedings - IEEE International Conference on Robotics and Automation (3 版, 巻 2004, pp. 2505-2510)

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

    Proceedings - IEEE International Conference on Robotics and Automation. 巻 2004 3. 編 2004. p. 2505-2510.

    研究成果: Conference contribution

    Tajima, F, Kishi, K, Nishizawa, K, Kan, K, Ishii, H, Sudo, K, Fujie, MG, 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. : Proceedings - IEEE International Conference on Robotics and Automation. 3 Edn, 巻. 2004, pp. 2505-2510, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 04/4/26.
    Tajima F, Kishi K, Nishizawa K, Kan K, Ishii H, Sudo K その他. 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. : Proceedings - IEEE International Conference on Robotics and Automation. 3 版 巻 2004. 2004. p. 2505-2510
    Tajima, F. ; Kishi, K. ; Nishizawa, K. ; Kan, K. ; Ishii, H. ; Sudo, K. ; Fujie, M. G. ; Dohi, T. ; Takamoto, S. / 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. Proceedings - IEEE International Conference on Robotics and Automation. 巻 2004 3. 版 2004. pp. 2505-2510
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