MRI環境下手術支援用穿刺マニピュレータの開発および画像歪み計測

抄録

Recently, MRI compatible robots for assisting surgery are focused with the advancement of image guided stereotactic surgical procedure under the MRI environment. To develop the surgical robot which is MR compatible, we should consider not only the severe clinical condition of the design for safety or sterilizations, but also the specific requirements to use under the strong magnetic field in MRI. Because of the existence of the strong magnetic fields, conventional materials, actuators are not allowed to use. In this paper, we developed the newly design of MRI compatible needle insertion manipulator with 6 degrees of freedom movement. To evaluate the validity to install in the MRI environment, we proposed to use the three dimensional marker system, by which we can measure the three dimensional space distortion caused by the manipulator. Phantom testing and the measurement result of the distortion are described.