2A1-A15 MRI環境対応小型手術支援7自由度マニピュレータの開発

概要

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The concept and specification of a compact surgical manipulator for intervention support systems in MRI (Magnetic Resonance Imager) was studied with authorities. Based on this specification, the design/prototype production was performed about a compact surgical manipulator, surgical tools, and a control unit. In consideration of spatial interference with the receiving coil or a patient body surface in the gap of opened type MRI, modularization, and number of the necessary degree of freedom, we developed seven-degree-of-freedom compact surgical manipulators driving surgical tools. This manipulator can work in space of 430[mm] high. In addition, the surgical tool is exchangeable, and has three degree of freedom at the tip that the manipulator can drive without using a wire. We evaluated MR compatibility of the manipulator, and confirmed that no problem occurred in both sensors and a movement range.
一般社団法人日本機械学会の論文