Tele-onmagnetic wire manipulation mechanism for high torque transmission through intense magnetic field inside a MRI machine

本研究的目的是将高扭矩从MRI扫描仪外部传递到MRI中使用的手术操作器。本研究的结果是，根据MR兼容性选择了用于高扭矩传输的导丝，并通过测量针驱动器夹持力评价了导丝的负载能力。然后，力传感器，这是必要的高可控性的MR兼容性和测量精度方面进行了评估。在此基础上，设计了带力传感器的手术机械手的对抗驱动系统。最后，该装置在MRI扫描仪的静磁场中的可用性得到了证实。

The purpose of this study is to transfer high torque from outside the MRI scanner to surgical manipulator which is used in MRI. The results of this research were that the wire for high torque transmission was chosen in terms of MR compatibility and that the load capacity of the wire was evaluated by measuring of a needle driver grip force. Then the force sensor which was necessary for high controllability was evaluated in terms of both MR compatibility and measurement accuracy. Furthermore, the Antagonistic drive system of surgical manipulator with the force sensor was designed. Finally, an availability of the device in static magnetic field of MRI scanner was confirmed.