MRI compatible robot for needle placement therapy with accurate registration

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

8 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルIFMBE Proceedings
編集者Sun I. Kim, Tae Suk Suh
出版社Springer Verlag
ページ3056-3059
ページ数4
1
ISBN(印刷版)9783540368397
DOI
出版ステータス出版済み - 2007
イベント10th World Congress on Medical Physics and Biomedical Engineering, WC 2006 - Seoul, 大韓民国
継続期間: 8 27 20069 1 2006

出版物シリーズ

名前IFMBE Proceedings
番号1
14
ISSN(印刷版)1680-0737
ISSN(電子版)1433-9277

その他

その他10th World Congress on Medical Physics and Biomedical Engineering, WC 2006
Country大韓民国
CitySeoul
Period8/27/069/1/06

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Biomedical Engineering

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