2009 Fiscal Year Final Research Report

Motor control method using kinetic energy storage for noiseless image in MR image guided robotic surgery

Research Project

Project/Area Number	20700413
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Single-year Grants
Research Field	Medical systems
Research Institution	Tokyo Women's Medical University
Principal Investigator	SUZUKI Takashi Tokyo Women's Medical University, 医学部, 助教 (00468688)
Project Period (FY)	2008 – 2009
Keywords	手術支援 / MRI / 画像誘導下手術 / 超音波モータ / 電磁波ノイズ / 手術ロボット / フライホイール / KERS(kinetic energy recovery system)
Research Abstract	Intraoperative magnetic resonance (MR) image guided robotic surgery is required for highly precise operation on deformable organs such as brain and liver. Ultrasonic vibration piezoelectric motor is widely used because of its MR compatibility and controllability. The electromagnetic noise from electric current for motor actuation, however, degrades the image quality. This leads to low precision surgical procedure. This study proposed a novel noiseless motor control method using kinetic energy storage. Kinetic energy is stored outside MR scanning time, and stored energy is used during scanning time as a noiseless energy source.