抄録
The surgical navigation robot is used in order to position the instrument correctly to the target disease. The development of a MRI (Magnetic Resonance Imaging) compatible navigation robot is also recently started so as to utilize more rich information of the MR imaging. In this research, we discuss about highly precise control of the navigation robot. This robot consists of ultrasonic motors (USM) and nonmagnetic materials. We operate the robot by using the phase difference control circuit which we developed as the driver of the USM and show the control performance by experimental results. In addition, we show the result of the MRI compatibility tests which we inspected using 0.2T open MRI.
