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 proceedingConference 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
    EditorsTakeyoshi Dohi, Ron Kikinis
    PublisherSpringer Verlag
    Pages114-121
    Number of pages8
    ISBN (Print)9783540457862
    DOIs
    Publication statusPublished - 2002
    Event5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan
    Duration: 2002 Sep 252002 Sep 28

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume2488
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Other

    Other5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
    CountryJapan
    CityTokyo
    Period02/9/2502/9/28

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

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