Robotic Assist for MR-Guided Surgery Using Leverage and Parallelepiped Mechanism
Robotic Assist for MR-Guided Surgery Using Leverage and Parallelepiped Mechanism
复制标题
使用杠杆和平行六面体机构进行 MR 引导手术的机器人辅助
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
T. Arai
中科院分区：
文献类型：
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作者：
Y. Koseki;K. Chinzei;N. Koyachi;T. Arai
在本文中，我们将提出一种新的机制，手术机械手，它有助于外科医生在精确定位和操作的手术设备，如活检针，内窥镜，在MR引导下的手术。该机构利用杠杆机构和平行六面体机构将3个平移和3个旋转运动从MR成像区域的外部传递到内部。这样的远程致动对于MR引导的手术下的机器人辅助是显著有帮助的，因为MR的强磁体否认成像区域周围的磁和电设备的存在。该机构还具有机械安全、结构简单等优点。立体定向成像和精确定位的组合将使脑和脊柱手术中的侵入性更小。
In this paper, we would propose a novel mechanism of surgical manipulator, which assists the surgeon in precise positioning and handling of surgical devices, like biopsy needle, endscope, in MR-guided surgery. This mechanism can transmit 3 translational and 3 rotational motion from the outside to the inside of MR imaging area using leverage and parallelepiped mechanism. Such a remote actuation is significantly helpful for robotic assist under MR-guided surgery because the strong magnet of MR denies the existence of magnetic and electric devices around imaging area. This mechanism also has merits of the mechanical safety and simple shape. The combination of stereotactic imaging and precise positioning would enable a less invasive surgery in brain and spine surgery.