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 被引用数 (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.

    本文言語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
    3
    出版ステータス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
    国/地域United States
    CityNew Orleans, LA
    Period04/4/2604/5/1

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学

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