A 6-DOF Mechanism for a MR-compatible Surgical Manipulator

摘要

Recently, intra-operative magnetic resonance imaging (IO-MRI) has become a significant clinical procedure. To perform this work, we have to provide MR-compatible surgical instrument. In this study, a new manipulator mechanism was investigated to develop an MR-compatible manipulator for minimally invasive liver surgery that could operate in an MRI-scanner. The system has 6 Degrees of Freedom (D.O.F) with new Remote Center of Motion(RCM) mechanism using a linear actuators. All mechanism are actuated by motor-hydraulic actuation system. It could provide enough power required for liver surgery and was small enough to be operated in 45cm-height space in Open-MRI.