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 language | English |
|---|---|
| Title of host publication | Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings |
| Publisher | Springer Verlag |
| Pages | 114-121 |
| Number of pages | 8 |
| Volume | 2488 |
| ISBN (Print) | 9783540457862 |
| Publication status | Published - 2002 |
| Externally published | Yes |
| Event | 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan Duration: 2002 Sep 25 → 2002 Sep 28 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 2488 |
| ISSN (Print) | 03029743 |
| ISSN (Electronic) | 16113349 |
Other
| Other | 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 |
|---|---|
| Country | Japan |
| City | Tokyo |
| Period | 02/9/25 → 02/9/28 |
Fingerprint
ASJC Scopus subject areas
- Computer Science(all)
- Theoretical Computer Science
Cite this
Endoscope manipulator for trans-nasal neurosurgery, optimized for and compatible to vertical field open MRI. / Koseki, Yoshihiko; Washio, Toshikatsu; Chinzei, Kiyoyuki; Iseki, Hiroshi.
Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. Vol. 2488 Springer Verlag, 2002. p. 114-121 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2488).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Endoscope manipulator for trans-nasal neurosurgery, optimized for and compatible to vertical field open MRI
AU - Koseki, Yoshihiko
AU - Washio, Toshikatsu
AU - Chinzei, Kiyoyuki
AU - Iseki, Hiroshi
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=84974736259&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84974736259
SN - 9783540457862
VL - 2488
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 114
EP - 121
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
PB - Springer Verlag
ER -