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

Research output: Contribution to journalArticle

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.

Original languageEnglish
Pages (from-to)242-248
Number of pages7
JournalComputer Aided Surgery
Volume1
Issue number4
DOIs
Publication statusPublished - 1995
Externally publishedYes

Fingerprint

Neurosurgery
Magnetic resonance
Needles
Manipulators
Magnetic Resonance Imaging
Robots
Imaging techniques
Tomography
Interventional Magnetic Resonance Imaging
Polyethylene Terephthalates
Angiography
Magnetic Resonance Angiography
Magnetic Fields
Ultrasonics
Polyethylene terephthalates
Artifacts
Surgery
Brain
Magnetic fields
Therapeutics

Keywords

  • Medical robots
  • MRI
  • Nonmagnetic manipulator
  • Stereotactic surgery

ASJC Scopus subject areas

  • Radiology Nuclear Medicine and imaging
  • Surgery

Cite this

Masamune, K., Kobayashi, E., Masutani, Y., Suzuki, M., Dohi, T., Iseki, H., & Takakura, K. (1995). Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery. Computer Aided Surgery, 1(4), 242-248. https://doi.org/10.3109/10929089509106330

Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery. / Masamune, Ken; Kobayashi, Etsuko; Masutani, Yoshitaka; Suzuki, Makoto; Dohi, Takeyoshi; Iseki, Hiroshi; Takakura, Kintomo.

In: Computer Aided Surgery, Vol. 1, No. 4, 1995, p. 242-248.

Research output: Contribution to journalArticle

Masamune, K, Kobayashi, E, Masutani, Y, Suzuki, M, Dohi, T, Iseki, H & Takakura, K 1995, 'Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery', Computer Aided Surgery, vol. 1, no. 4, pp. 242-248. https://doi.org/10.3109/10929089509106330
Masamune, Ken ; Kobayashi, Etsuko ; Masutani, Yoshitaka ; Suzuki, Makoto ; Dohi, Takeyoshi ; Iseki, Hiroshi ; Takakura, Kintomo. / Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery. In: Computer Aided Surgery. 1995 ; Vol. 1, No. 4. pp. 242-248.
@article{5c6dc6095f1849dfa36f2d7cb3bccd8a,
title = "Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery",
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.",
keywords = "Medical robots, MRI, Nonmagnetic manipulator, Stereotactic surgery",
author = "Ken Masamune and Etsuko Kobayashi and Yoshitaka Masutani and Makoto Suzuki and Takeyoshi Dohi and Hiroshi Iseki and Kintomo Takakura",
year = "1995",
doi = "10.3109/10929089509106330",
language = "English",
volume = "1",
pages = "242--248",
journal = "Computer Assisted Surgery",
issn = "1092-9088",
publisher = "Taylor and Francis Ltd.",
number = "4",

}

TY - JOUR

T1 - Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery

AU - Masamune, Ken

AU - Kobayashi, Etsuko

AU - Masutani, Yoshitaka

AU - Suzuki, Makoto

AU - Dohi, Takeyoshi

AU - Iseki, Hiroshi

AU - Takakura, Kintomo

PY - 1995

Y1 - 1995

N2 - 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.

AB - 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.

KW - Medical robots

KW - MRI

KW - Nonmagnetic manipulator

KW - Stereotactic surgery

UR - http://www.scopus.com/inward/record.url?scp=84907035287&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84907035287&partnerID=8YFLogxK

U2 - 10.3109/10929089509106330

DO - 10.3109/10929089509106330

M3 - Article

VL - 1

SP - 242

EP - 248

JO - Computer Assisted Surgery

JF - Computer Assisted Surgery

SN - 1092-9088

IS - 4

ER -