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MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study

2000; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-3-540-40899-4_95

1611-3349

Kiyoyuki Chinzei, Nobuhiko Hata, Ferenc A. Jólesz, Ron Kikinis,

Advanced Radiotherapy Techniques

A magnetic resonance (MR) compatible surgical assist robot system under preclinical evaluation is described. It is designed to coexist, and cooperate, with a surgeon, and to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. The main mechanical body is located above the head of the surgeon, and two rigid arms extend to the workspace. This configuration contributes to a small occupancy in the surgeon's workspace, and good MR compatibility. The design of the robot is described. The MR compatibility is examined, and shows that there is no adverse effect on the imaging, even when the robot is in motion. Any heating effect was not evaluated, because a published study has revealed any effect is quite small. This robot system is carefully designed for safety and sterilization issues.