抄録
Recently, the development of MRI compatible robotics for supporting surgery is required in medical area. In this study, MRI compatible needle insertion manipulator and supporting manipulator are developed. These manipulators are designed small enough to operate the surgery in the vertically limited gantry space of MRI, and are composed of non-magnetism material to avoid the influence of a high magnetic field. And because the characteristic of the flexible rack was evaluated, the accuracy of the manipulators was improved. In the experiment we evaluate the usefulness of the prototype. Finally the manipulator was able to insert a needle to the hog liver.
