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

摘要

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.