proc 8th JSCAS (Kyoto Nov. 1999) pp. 87-88

Development of an MR Compatible Manipulator for the Intraoperative MRI

Kiyoyuki Chinzei, Toshikatsu Washio, Yukio Yamada, Ichiro Ihara*, Ryoji Murata*,	
 Nobuhiko Hata**, Ron Kikinis**, Ferenc A. Jolesz**, Rajesh Kumar***, Russel H. Taylor***
Mechanical Engineering Laboratory, AIST, Fac. Science & Technology, Science Univ. of Tokyo*,
Dept. Radiology, Brigham & Women's Hospital**, CISST, The Johns Hopkins University***
Key Words: MR compatibility, intraoperative MRI, surgical assist manipulator, susceptibility, homogeneity

[Abstract]
A surgical assist robot/manipulator optimally designed
for the intraoperative MRI is proved to be MR compatible.
The main body is placed above surgeonŐs head so that it does not block the surgeon accessing the patient. The end effector contains neither delicate mechanical parts nor sensors, and is exchangeable and sterilizable.
The motion of the robot does not give any adverse effect to the imgaing, in terms of signal per noise ratio and the magnetic inhomogeneity.