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

Yoshihiko Koseki, Toshikatsu Washio, Kiyoyuki Chinzei, Hiroshi Iseki

    研究成果: Conference contribution

    36 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルMedical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
    編集者Takeyoshi Dohi, Ron Kikinis
    出版社Springer Verlag
    ページ114-121
    ページ数8
    ISBN(印刷版)9783540457862
    DOI
    出版ステータスPublished - 2002
    イベント5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan
    継続期間: 2002 9 252002 9 28

    出版物シリーズ

    名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    2488
    ISSN(印刷版)0302-9743
    ISSN(電子版)1611-3349

    Other

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

    ASJC Scopus subject areas

    • 理論的コンピュータサイエンス
    • コンピュータ サイエンス(全般)

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