Micro-grasping forceps manipulator for mr-guided neurosurgery

Nobuhiko Miyata; Etsuko Kobayashi; Daeyoung Kim; Ken Masamune; Ichiro Sakuma; Naoki Yahagi; Takayuki Tsuji; Hiroshi Inada; Takeyoshi Dohi; Hiroshi Iseki; Kintomo Takakura

doi:10.1007/3-540-45786-0_14

Micro-grasping forceps manipulator for mr-guided neurosurgery

Nobuhiko Miyata, Etsuko Kobayashi, Daeyoung Kim, Ken Masamune, Ichiro Sakuma, Naoki Yahagi, Takayuki Tsuji, Hiroshi Inada, Takeyoshi Dohi, Hiroshi Iseki, Kintomo Takakura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Citations (Scopus)

Abstract

Mechanical support system is needed for minimally invasive surgery, since it enables precise manipulation of surgical instruments beyond human ability in a small operation space. Furthermore, a robot available for intraoperative MRI guided neurosurgical procedures could allow less invasive and more accurate image guided surgery. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterity by the multi function micromanipulator, safe and smooth operation is expected to be performed. In this approach, we have developed MR-compatible micro-forceps manipulator of the multi-function micromanipulator system for neurosurgery. By a new cam mechanism for two degrees of bending freedom, we achieved these excellent characteristics for the micro forceps. 1) Simple mechanism suitable for a micromanipulator, 2) Precise positioning, 3) Suitable mechanism for MR compatible manipulator. By evaluation experiments, we confirmed precise positioning of the manipulator and MR compatibility of the manipulator.

Original language	English
Title of host publication	Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
Editors	Takeyoshi Dohi, Ron Kikinis
Publisher	Springer Verlag
Pages	107-113
Number of pages	7
ISBN (Print)	9783540457862
DOIs	https://doi.org/10.1007/3-540-45786-0_14
Publication status	Published - 2002
Event	5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan Duration: 2002 Sept 25 → 2002 Sept 28

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	2488
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
Country/Territory	Japan
City	Tokyo
Period	02/9/25 → 02/9/28

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/3-540-45786-0_14

Cite this

Miyata, N., Kobayashi, E., Kim, D., Masamune, K., Sakuma, I., Yahagi, N., Tsuji, T., Inada, H., Dohi, T., Iseki, H., & Takakura, K. (2002). Micro-grasping forceps manipulator for mr-guided neurosurgery. In T. Dohi, & R. Kikinis (Eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings (pp. 107-113). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2488). Springer Verlag. https://doi.org/10.1007/3-540-45786-0_14

Micro-grasping forceps manipulator for mr-guided neurosurgery. / Miyata, Nobuhiko; Kobayashi, Etsuko; Kim, Daeyoung et al.
Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. ed. / Takeyoshi Dohi; Ron Kikinis. Springer Verlag, 2002. p. 107-113 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2488).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Miyata, N, Kobayashi, E, Kim, D, Masamune, K, Sakuma, I, Yahagi, N, Tsuji, T, Inada, H, Dohi, T, Iseki, H & Takakura, K 2002, Micro-grasping forceps manipulator for mr-guided neurosurgery. in T Dohi & R Kikinis (eds), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2488, Springer Verlag, pp. 107-113, 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002, Tokyo, Japan, 02/9/25. https://doi.org/10.1007/3-540-45786-0_14

Miyata N, Kobayashi E, Kim D, Masamune K, Sakuma I, Yahagi N et al. Micro-grasping forceps manipulator for mr-guided neurosurgery. In Dohi T, Kikinis R, editors, Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. Springer Verlag. 2002. p. 107-113. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/3-540-45786-0_14

Miyata, Nobuhiko ; Kobayashi, Etsuko ; Kim, Daeyoung et al. / Micro-grasping forceps manipulator for mr-guided neurosurgery. Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. editor / Takeyoshi Dohi ; Ron Kikinis. Springer Verlag, 2002. pp. 107-113 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Micro-grasping forceps manipulator for mr-guided neurosurgery

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