Medical Manipulator with Position and Orientation Transmitter by Lever and Parallel-Link : Basic Concept and Prototype

Abstract

In this paper, we would propose a novel mechanism of surgical manipulator, which assists the surgeon in precise positioning and handling of biopsy needle, endscope, and some other surgical devices in MR-guided surgery. This mechanism can transmit 3 translational and 3 rotational motion from the outside to the inside of MR imaging area using leverage and parallelepiped mechanism. Such a remote actuation is significantly helpful for robotic assist under MR-guided surgery because the strong magnet of MR denies the existence of magnetic and electric devices around imaging area. This mechanism also has merits of the mechanical safety and simple shape.