書誌事項
- タイトル別名
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- Development of an MRI Compatible Surgical Assist Manipulator using Spherical Ultrasonic Motor (1st report)
- キュウメン チョウオンパ モータ オ モチイタ MRI カンキョウ カ シュジュツ シエン マニピュレータ ノ カイハツ ダイ1ポウ MRI タイオウ キュウメン チョウオンパ モータ ノ シサク
- -Prototype of the Spherical Ultrasonic Motor-
- —MRI対応球面超音波モータの試作—
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In this paper we report the development of a novel actuator for surgical assist manipulator to perform minimally invasive surgery with magnetic resonance imaging (MRI) guidance. The actuator, which is called the spherical ultrasonic motor (SUSM), is constructed of a spherical rotor and three ring-type stators, and has multi-degrees of freedom. In this study, the principle of the SUSM is described. A novel SUSM composed of non-magnetic materials has been constructed, the stator of which was designed using the finite element method. Evaluation of the driving characteristics revealed the SUSM to have good responsiveness and high positioning accuracy. In MRI environment, the noise effects of the SUSM on MRI images were examined. The results demonstrate the feasibility of the surgical assist manipulator using the SUSM.
収録刊行物
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- 精密工学会誌
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精密工学会誌 73 (2), 275-280, 2007
公益社団法人 精密工学会
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詳細情報 詳細情報について
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- CRID
- 1390282679774630912
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- NII論文ID
- 110006163415
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- NII書誌ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL書誌ID
- 8680879
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- データソース種別
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- JaLC
- NDL
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