Endoscope manipulator for trans-nasal neurosurgery, optimized for and compatible to vertical field open MRI

Yoshihiko Koseki, Toshikatsu Washio, Kiyoyuki Chinzei, Hiroshi Iseki

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

34 Citations (Scopus)

Abstract

This paper preliminarily reports the robotic system working inside the gantry of vertical field Open MRI. This manipulator is new in terms of the application to vertical field Open MRI, cost effectiveness,accuracy and stiffness sufficient for endoscope manipulation. The endoscope manipulation for trans-nasal neurosurgery under MR-guidance was selected as the sample task. The endoscope operation in MR-gantry might provide the surgeon(s) with real-time feedback of MR image to endoscopic image and the reverse. This facilitates the comprehensive understanding, because MRI compensates the vision lost through narrow opening of keyhole surgery with global view. So this surgery is a good motivation for combination of MRI and robotic systems. In this paper, the design and implementation are presented and preliminary test shows good MR-compatibility, accuracy and stiffness.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
PublisherSpringer Verlag
Pages114-121
Number of pages8
Volume2488
ISBN (Print)9783540457862
Publication statusPublished - 2002
Externally publishedYes
Event5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan
Duration: 2002 Sep 25 → 2002 Sep 28

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2488
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
CountryJapan
CityTokyo
Period02/9/25 → 02/9/28

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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    Koseki, Y., Washio, T., Chinzei, K., & Iseki, H. (2002). Endoscope manipulator for trans-nasal neurosurgery, optimized for and compatible to vertical field open MRI. In Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings (Vol. 2488, pp. 114-121). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2488). Springer Verlag.