New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

M. Hashizume*, T. Yasunaga, K. Tanoue, S. Ieiri, K. Konishi, K. Kishi, H. Nakamoto, D. Ikeda, I. Sakuma, M. Fujie, T. Dohi

*この研究の対応する著者

    研究成果: Article査読

    40 被引用数 (Scopus)

    抄録

    Object: To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. Materials and methods: The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. Results: All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D navigation and 2-D ISC images, as well as the MR-compatible laparoscope. The ISC image was updated every 4 s; no artifact was detected. Conclusion: A newly developed MR image-guided surgical robotic system is feasible for an operator to perform safe and precise minimally invasive procedures.

    本文言語English
    ページ(範囲)317-325
    ページ数9
    ジャーナルInternational journal of computer assisted radiology and surgery
    2
    6
    DOI
    出版ステータスPublished - 2008

    ASJC Scopus subject areas

    • 放射線学、核医学およびイメージング
    • 健康情報学
    • 外科
    • 移植

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