3218 MRI対応アクチュエータのEMC設計および穿刺ロボットの開発(J25-3 メカニカルシステムとその知能化(3),J25 メカニカルシステムとその知能化)

概要

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Development of surgical mechatronics system under MRI environment is now becoming popular to realize minimally invasive treatment. We developed an MRI compatible needle insertion robot with ultrasound motors used inside the MRI gantry. In this paper, We evaluated the effect of electromagnetic waves on the MR image and clarify the RF immunity of MR image. In addition, we gave an example of the standard of an electromagnetic wave shield required for MR compatiblity. Then, S/N ratio (SNR) decrease and the distortion caused by the robot inside the 0.2 T MRI gantry ware evaluated. The results indicated that MR image was not distorted, SNR decrease was 1.2%. Therefore, the robot has highly MR compatiblity.
一般社団法人日本機械学会の論文
2007-09-07