Top > JRM > Dual-Armed Surgical Master-Slave Manipulator System with MR Co ...

single-rb.php

JRM Vol.17 No.3 pp. 285-292
doi: 10.20965/jrm.2005.p0285
(2005)

Paper:

Views over last 60 days: 525

Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility

Kousuke Kishi*,**, Kazutoshi Kan***, Masakatsu G. Fujie**,
Kenichi Sudo****, Shinichi Takamoto*****,
and Takeyoshi Dohi******

*Mechanical Engineering Research Laboratory, Hitachi, Ltd.

**Department of Mechanical Engineering School of Science and Engineering, Waseda University

***Advanced Research Laboratory, Hitachi, Ltd.

****Cardiovascular Surgery, Kyorin University School of Medicine

*****Dept. of Cardiothoracic Surgery, Graduate School of Medicine, The University of Tokyo

******Graduate School of Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo

Received:
November 8, 2004
Accepted:
March 14, 2005
Published:
June 20, 2005
Creative Commons License
Keywords:
MR-compatibility, master-slave manipulator, surgical robot, redundant D.O.F. manipulator
Abstract
We propose a surgical manipulator system supporting surgical treatment and intraoperative disease diagnosis. Manipulators fit vertical-magnetic-field open-configuration magnetic resonance (MR) imagers, and surgical tools on the end of the manipulator arm are interchangeable. We evaluated maneuverability using slave manipulators through a surgical input device consisting of a pair of master devices and a console. We conducted basic suturing tasks in training material that mimics human tissue and thin blood vessels.
Cite this article as:
K. Kishi, K. Kan, M. Fujie, K. Sudo, S. Takamoto, and T. Dohi, “Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility,” J. Robot. Mechatron., Vol.17 No.3, pp. 285-292, 2005.
Data files:
References
  1. [1] G. S. Guthart, and J. K. Salisbury, Jr., “The IntuitiveTM Telesurgery System: Overview and Application,” Proc. IEEE International Conference on Robotics & Automation, pp. 618-621, 2000.
  2. [2] K. Kan, M. G. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, K. Takakura, S. Kobayashi, and T. Dohi, “Development of HUMAN System with Three Micro Manipulators for Minimally Invasive Neurosurgery,” Proc. CARS, pp. 144-149, 2001.
  3. [3] Y. Nakamura, K. Kishi, and H. Kawakami, “Heartbeat synchronization for robotic cardiac surgery,” Proc. IEEE International Conference on Robotics & Automation, Vol.2, pp. 2014-2019, 2001.
  4. [4] F. A. Jolesz, “Image-guided procedures and the operating room of the future,” Radiology, 204, pp. 601-612, 1997.
  5. [5] K. Masamune, E. Kobayashi, Y. Masutani, M. Suzuki, T. Dohi, H. Iseki, and K. Takakura, “Development of a MRI Compatible Needle Insertion Manipulator for Stereotactic Neurosurgery,” Proc. MRCAS, pp. 165-172, 1995.
  6. [6] K. Chinzei, N. Hata, F. A. Jolesz, and R. Kikinis, “MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study,” Proc. MICCAI, LNCS1935, pp. 921-930, 2000.
  7. [7] A. Krieger, R. C. Susil, G. Fichringer, E. Atalar, and L. L. Whitcomb, “Design of a novel MRI compatible manipulator for image guided prostate intervention,” Proc. IEEE International Conference on Robotics & Automation, pp. 377-382, 2004.
  8. [8] K. Nishizawa, and K. Kishi, “Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems,” Journal of Robotics and Mechatronics, Vol.16, No.2, pp. 116-121, 2004.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Copyright© 2005 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 22, 2024