抄録
This paper shows the development of MRI compatible needle insertion manipulator and guidance control of manipulator using visual information. MRI is used to obtain organ shape, shape of abdominal wall and shape of cancer and to see the overall positional relationship of those tissues. And, endoscope is used to obtain real-time information of organ displacement. The needle insertion manipulator is guided by an artificial potential field approach using these information. The experimental result showed the approach to target tumor was realized.
