DocumentCode :
3597296
Title :
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
Author :
Tajima, F. ; Kishi, K. ; Nishizawa, K. ; Kan, K. ; Ishii, H. ; Sudo, K. ; Fujie, M.G. ; Dohi, T. ; Takamoto, S.
Author_Institution :
Hitachi Ltd., Ibaraki, Japan
Volume :
3
fYear :
2004
Firstpage :
2505
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.
Keywords :
biomedical MRI; cardiology; diseases; manipulators; medical robotics; surgery; MR compatible manipulator; interchangeable surgical tool; prototype master-slave system; slave manipulator; unified support system; vertical-magnetic-field open-configuration MR imagers; Biomedical imaging; Cardiac disease; Cardiovascular diseases; Manipulators; Master-slave; Medical diagnostic imaging; Minimally invasive surgery; Optical imaging; Prototypes; X-ray imaging;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-8232-3
Type :
conf
DOI :
10.1109/ROBOT.2004.1307437
Filename :
1307437
Link To Document :
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