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JRM Vol.17 No.3 pp. 285-292
doi: 10.20965/jrm.2005.p0285
(2005)

Paper:

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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

Received:
November 8, 2004
Accepted:
March 14, 2005
Published:
June 20, 2005
Creative Commons License
Keywords:
MR-compatibility, master-slave manipulator, surgical robot, redundant D.O.F. manipulator
Abstract
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.
Cite this article as:
K. Kishi, K. Kan, M. Fujie, K. Sudo, S. Takamoto, and T. Dohi, “Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility,” J. Robot. Mechatron., Vol.17 No.3, pp. 285-292, 2005.
Data files:
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