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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.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on (Volume:3 )
Date of Conference: 26 April-1 May 2004