TY - JOUR
T1 - New real-time MR image-guided surgical robotic system for minimally invasive precision surgery
AU - Hashizume, M.
AU - Yasunaga, T.
AU - Tanoue, K.
AU - Ieiri, S.
AU - Konishi, K.
AU - Kishi, K.
AU - Nakamoto, H.
AU - Ikeda, D.
AU - Sakuma, I.
AU - Fujie, M.
AU - Dohi, T.
N1 - Funding Information:
Acknowledgments The authors would like to thank Kiyomi Hamada and Sumako Nishimura (Hitachi Medical Corporation, Tokyo, Japan) for MR acquisition. This work is supported by NEDO Grant #14K258 to M. Hashizume (Research and Development of the MR Image-guided Surgical Robotic System for Laparoscopic Surgery to Realize Future Model Medical Care).
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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U2 - 10.1007/s11548-007-0146-9
DO - 10.1007/s11548-007-0146-9
M3 - Article
AN - SCOPUS:41549124409
SN - 1861-6410
VL - 2
SP - 317
EP - 325
JO - Computer-Assisted Radiology and Surgery
JF - Computer-Assisted Radiology and Surgery
IS - 6
ER -