Journal ArticleDOI
Development of an MRI‐compatible needle insertion manipulator for stereotactic neurosurgery
Ken Masamune,Etsuko Kobayashi,Yoshitaka Masutani,Makoto Suzuki,Takeyoshi Dohi,Hiroshi Iseki,Kintomo Takakura +6 more
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TLDR
The system frame was manufactured using polyethylene terephthalate (PET) and was actuated using ultrasonic motors, and the total accuracy of the system was approximately 3.0 mm.Abstract:
A variety of medical robots for stereotactic neurosurgery has been developed in recent years. Almost of all these robots use computed tomography (CT) to scan the brain of the patient before and during surgery. Currently, we are developing a needle insertion manipulator for magnetic resonance imaging (MRI)-guided neurosurgery. MRI techniques, including MRI angiography and functional MRI, are attractive for the development of interventional MRI therapies and operations. If a robot were available, these therapies would be minimally invasive, with more accurate guidance than is possible with current CT-guided systems. Actuation of a robot in an MRI environment is difficult because of the presence of strong magnetic fields. Therefore, the robot must be constructed of nonmagnetic materials. The system frame was manufactured using polyethylene terephthalate (PET) and was actuated using ultrasonic motors. Accuracy-evaluation procedures and phantom tests have been performed. The total accuracy of the system was approximately 3.0 mm. No artifacts caused by the manipulator were observed in the images.read more
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Journal ArticleDOI
Medical robotics in computer-integrated surgery
TL;DR: A broad overview of medical robot systems used in surgery, including basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, and some of the major design issues particular to medical robots is provided.
Patent
Microsurgical robot system
TL;DR: In this paper, a robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector.
Journal ArticleDOI
Nonholonomic Modeling of Needle Steering
TL;DR: In this paper, a nonholonomic kinematics, control, and path planning model for steerable flexible needles with bevel tips is proposed to reach a specified 3D target.
Proceedings Article
Nonholonomic Modeling of Needle Steering.
TL;DR: The design and experimental validation of a nonholonomic model for steering flexible needles with bevel tips are considered, which generalizes the standard three degree-of-freedom (DOF) non holonomic unicycle and bicycle models to 6 DOF using Lie group theory.
Journal ArticleDOI
Robotics for surgery.
Robert D. Howe,Yoky Matsuoka +1 more
TL;DR: Robotic technology is enhancing surgery through improved precision, stability, and dexterity through image-guided procedures and microsurgical procedures in ophthalmology, and for surgical training and simulation.
References
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Journal ArticleDOI
A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery
TL;DR: The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed, resulting in a procedure faster than one using a manually adjustable frame.
Journal ArticleDOI
A telerobotic assistant for laparoscopic surgery
Russell H. Taylor,Janez Funda,B. Eldridge,S. Gomory,K.G. Gruben,David Arthur Larose,Mark A. Talamini,Louis R. Kavoussi,James H. Anderson +8 more
TL;DR: A new generation of "intelligent" surgical systems that can work cooperatively with a human surgeon to off-load routine tasks, reduce the number of people needed in the operating room, and provide new capabilities that complement the surgeon's own skills are developed.
Journal Article
Development of a computer-aided surgery system: three-dimensional graphic reconstruction for treatment of liver cancer.
D. Hashimoto,Takeyoshi Dohi,Masakazu Tsuzuki,Takashi Horiuchi,Yuji Ohta,Kiyoyuki Chinzei,Minoru Suzuki,Y Idezuki +7 more
TL;DR: The results indicate that the computer-aided surgery system is a highly promising method that avoids cumbersome stereoscopic recognition of the anatomical location of the diseased area and the vessels, before and after surgery.
Journal ArticleDOI
Implantation of intracerebral depth electrodes for monitoring seizures using the Pelorus stereotactic system guided by magnetic resonance imaging. Technical note.
TL;DR: The Pelorus stereotactic system guided by magnetic resonance imaging was used to implant intracerebral depth electrodes for monitoring seizure activity and provides ample working space and flexibility to choose different entry points and trajectory angles.