Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility
Kousuke Kishi*,**, Kazutoshi Kan***, Masakatsu G. Fujie**,
Kenichi Sudo****, Shinichi Takamoto*****,
and Takeyoshi Dohi******
*Mechanical Engineering Research Laboratory, Hitachi, Ltd.
**Department of Mechanical Engineering School of Science and Engineering, Waseda University
***Advanced Research Laboratory, Hitachi, Ltd.
****Cardiovascular Surgery, Kyorin University School of Medicine
*****Dept. of Cardiothoracic Surgery, Graduate School of Medicine, The University of Tokyo
******Graduate School of Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo
We propose a surgical manipulator system supporting surgical treatment and intraoperative disease diagnosis. Manipulators fit vertical-magnetic-field open-configuration magnetic resonance (MR) imagers, and surgical tools on the end of the manipulator arm are interchangeable. We evaluated maneuverability using slave manipulators through a surgical input device consisting of a pair of master devices and a console. We conducted basic suturing tasks in training material that mimics human tissue and thin blood vessels.
Kenichi Sudo, Shinichi Takamoto, and
and Takeyoshi Dohi, “Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility,” J. Robot. Mechatron., Vol.17, No.3, pp. 285-292, 2005.
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