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

Ken Masamune*, Etsuko Kobayashi, Yoshitaka Masutani, Makoto Suzuki, Takeyoshi Dohi, Hiroshi Iseki, Kintomo Takakura

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

167 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)242-248
Number of pages7
JournalComputer Aided Surgery
Issue number4
Publication statusPublished - 1995
Externally publishedYes


  • MRI
  • Medical robots
  • Nonmagnetic manipulator
  • Stereotactic surgery

ASJC Scopus subject areas

  • Surgery
  • Radiology Nuclear Medicine and imaging


Dive into the research topics of 'Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery'. Together they form a unique fingerprint.

Cite this