抄録
We developed two compact surgical support manipulators with a navigation system that uses an MRI, and a master console. One manipulator can hold a puncture needle in an MRI. The other manipulator can drive surgical tools in an MRI. Master console has two master devices and monitors for navigation, and is used to operate the manipulators. We installed the system in an MRI and could confirm movement of the system using navigation. We verified the feasibility of the prototype system by in-vivo experiment.
