A New, Compact MR-Compatible Surgical Manipulator for Minimally Invasive Liver Surgery

摘要

Recently, intra-operative magnetic resonance imaging (IO-MRI) has become an important clinical procedure. To perform this work, MR-compatible surgical equipment is necessary. In this study, our research team developed the technology for a MR-compatible manipulator for minimally invasive liver surgery that can operate in an MRI-scanner without any significant influence on MR imaging. The developed system that allows for 6 Degrees of Freedom (D.O.F) and a new RCM mechanism and bending forceps actuated by a motor-hydraulic actuation system. This manipulator provides enough power for liver surgery and is small enough to be operated within 45cm-high space in an Open-MRI. The image distortion within the MRI is minimal considering the effect of materials used in the system. These results demonstrate that it is feasible to operate the manipulator during MR operation and scanning.