A New, Compact MR-Compatible Surgical Manipulator for Minimally Invasive Liver Surgery
A New, Compact MR-Compatible Surgical Manipulator for Minimally Invasive Liver Surgery
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DOI：
10.1007/3-540-45786-0_13
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发表时间：
2002-09
期刊：
影响因子：
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通讯作者：
Daeyoung Kim;E. Kobayashi;T. Dohi;I. Sakuma
中科院分区：
文献类型：
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作者：
Daeyoung Kim;E. Kobayashi;T. Dohi;I. Sakuma
近年来，术中磁共振成像（IO-MRI）已成为重要的临床程序。为了执行这项工作，需要MR兼容的手术设备。在这项研究中，我们的研究团队开发了一种用于微创肝脏手术的MR兼容机械手技术，该技术可以在MRI扫描仪中操作，而不会对MR成像产生任何显着影响。开发的系统允许6个自由度（D.O.F）和一个新的RCM机制和弯曲钳由电机液压驱动系统驱动。该机械手为肝脏手术提供了足够的动力，并且足够小，可以在开放式MRI中在45 cm高的空间内操作。考虑到系统中所用材料的影响，MRI内的图像失真最小。这些结果表明，在MR操作和扫描期间操作机械手是可行的。
Recently, intra-operative magnetic resonance imaging (IO-MRI) has become an important clinical procedure. To perform this work, MR-compatible surgical equipment is necessary. In this study, our research team developed the technology for a MR-compatible manipulator for minimally invasive liver surgery that can operate in an MRI-scanner without any significant influence on MR imaging. The developed system that allows for 6 Degrees of Freedom (D.O.F) and a new RCM mechanism and bending forceps actuated by a motor-hydraulic actuation system. This manipulator provides enough power for liver surgery and is small enough to be operated within 45cm-high space in an Open-MRI. The image distortion within the MRI is minimal considering the effect of materials used in the system. These results demonstrate that it is feasible to operate the manipulator during MR operation and scanning.