MRI compatible robot for needle placement therapy with accurate registration

Ken Masamune, Futoshi Ohara, Kiyoshi Matsumiya, Hongen Liao, Makoto Hashizume, Takeyoshi Dohi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Recent advances of the interventional MRI, ‘surgery in the Open MRI’, proceeds safer and assured minimally invasive therapy with a plenty of useful information of MR images acquired during the operation. In this paper, we present a small MRI compatible robots for horizontal gap open MRI which controls needle orientation effectively in narrow gantry space. Registration between MRI, MR image, and the robot is performed with affine matrix transformation using 100 small markers and the 3D measurement sensor. Markers are distributed with 20mm clearance and each 50 (half of 100) markers represent the XZ- and YZ- plane. They are mutually-perpendicular to achieve accurate registration. The accuracy in the total system was 1.24 to 4.10(mm) including the registration error and the mechanical error and MRI image distortion.

Original languageEnglish
Title of host publicationIFMBE Proceedings
EditorsSun I. Kim, Tae Suk Suh
PublisherSpringer Verlag
Pages3056-3059
Number of pages4
Edition1
ISBN (Print)9783540368397
DOIs
Publication statusPublished - 2007
Event10th World Congress on Medical Physics and Biomedical Engineering, WC 2006 - Seoul, Korea, Republic of
Duration: Aug 27 2006Sep 1 2006

Publication series

NameIFMBE Proceedings
Number1
Volume14
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Other

Other10th World Congress on Medical Physics and Biomedical Engineering, WC 2006
CountryKorea, Republic of
CitySeoul
Period8/27/069/1/06

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Biomedical Engineering

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  • Cite this

    Masamune, K., Ohara, F., Matsumiya, K., Liao, H., Hashizume, M., & Dohi, T. (2007). MRI compatible robot for needle placement therapy with accurate registration. In S. I. Kim, & T. S. Suh (Eds.), IFMBE Proceedings (1 ed., pp. 3056-3059). (IFMBE Proceedings; Vol. 14, No. 1). Springer Verlag. https://doi.org/10.1007/978-3-540-36841-0_774