Micro-grasping forceps manipulator for mr-guided neurosurgery

Nobuhiko Miyata, Etsuko Kobayashi, Daeyoung Kim, Ken Masamune, Ichiro Sakuma, Naoki Yahagi, Takayuki Tsuji, Hiroshi Inada, Takeyoshi Dohi, Hiroshi Iseki, Kintomo Takakura

    研究成果: Conference contribution

    16 被引用数 (Scopus)

    抄録

    Mechanical support system is needed for minimally invasive surgery, since it enables precise manipulation of surgical instruments beyond human ability in a small operation space. Furthermore, a robot available for intraoperative MRI guided neurosurgical procedures could allow less invasive and more accurate image guided surgery. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterity by the multi function micromanipulator, safe and smooth operation is expected to be performed. In this approach, we have developed MR-compatible micro-forceps manipulator of the multi-function micromanipulator system for neurosurgery. By a new cam mechanism for two degrees of bending freedom, we achieved these excellent characteristics for the micro forceps. 1) Simple mechanism suitable for a micromanipulator, 2) Precise positioning, 3) Suitable mechanism for MR compatible manipulator. By evaluation experiments, we confirmed precise positioning of the manipulator and MR compatibility of the manipulator.

    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107-113
    ページ数7
    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月 252002 9月 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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