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核磁共振扫描仪外部转移到用于核磁共振成像的外科机械手。本研究的结果是，根据磁流变液的兼容性选择了高扭矩传动的钢丝，并通过测量针头驱动器的握力来评估钢丝的负载能力。然后从MR兼容性和测量精度两个方面对高可控性所需的力传感器进行了评估。在此基础上，设计了具有力传感器的手术机械手对抗驱动系统。最后，验证了该装置在磁共振扫描仪静磁场中的可行性。

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.