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

Kousuke Kishi | Zendy; Kazutoshi Kan | Zendy; Masakatsu G. Fujie | Zendy; Kenichi Sudo | Zendy; Shinichi Takamoto | Zendy; Takeyoshi Dohi | Zendy

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

Author(s) -

Kousuke Kishi,

Kazutoshi Kan,

Masakatsu G. Fujie,

Kenichi Sudo,

Shinichi Takamoto,

Takeyoshi Dohi

Publication year - 2005

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2005.p0285

Subject(s) - surgical robot , manipulator (device) , robot manipulator , surgical operation , computer science , surgical procedures , robot , open source , simulation , biomedical engineering , surgery , artificial intelligence , engineering , medicine , software , programming language

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.

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