论文信息 - Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery.

Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery.

A variety of medical robots for stereotactic neurosurgery has been developed in recent years. Almost of all these robots use computed tomography (CT) to scan the brain of the patient before and during surgery. Currently, we are developing a needle insertion manipulator for magnetic resonance imaging (MRI)-guided neurosurgery. MRI techniques, including MRI angiography and functional MRI, are attractive for the development of interventional MRI therapies and operations. If a robot were available, these therapies would be minimally invasive, with more accurate guidance than is possible with current CT-guided systems. Actuation of a robot in an MRI environment is difficult because of the presence of strong magnetic fields. Therefore, the robot must be constructed of nonmagnetic materials. The system frame was manufactured using polyethylene terephthalate (PET) and was actuated using ultrasonic motors. Accuracy-evaluation procedures and phantom tests have been performed. The total accuracy of the system was approximately 3.0 mm. No artifacts caused by the manipulator were observed in the images.

[1] Ken Masamune,et al. Computer Aided Surgery (CAS) System for Stereotactic Neurosurgery , 1995, CVRMed.

[2] S. Hayati,et al. A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery , 1988, IEEE Transactions on Biomedical Engineering.

[3] Russell H. Taylor,et al. A telerobotic assistant for laparoscopic surgery , 1995 .

[4] Kiyoyuki Chinzei,et al. Computer aided surgery system (CAS): Development of surgical simulation and planning system with three dimensional graphic reconstruction , 1990, [1990] Proceedings of the First Conference on Visualization in Biomedical Computing.

[5] H. Iseki,et al. A new apparatus for CT-guided stereotactic surgery. , 1985, Applied neurophysiology.

[6] D Glauser,et al. Configuration of a robot dedicated to stereotactic surgery. , 1990, Stereotactic and functional neurosurgery.

[7] A. G. Timoney,et al. Robotic Surgery A First-Hand Experience In Transurethral Resection of the Prostate , 1993 .

[8] W D Tobler,et al. Implantation of intracerebral depth electrodes for monitoring seizures using the Pelorus stereotactic system guided by magnetic resonance imaging. Technical note. , 1993, Journal of neurosurgery.

[9] K Chinzei,et al. Development of a computer-aided surgery system: three-dimensional graphic reconstruction for treatment of liver cancer. , 1991, Surgery.