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 proceedingConference contribution

    18 Citations (Scopus)


    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 languageEnglish
    Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
    EditorsTakeyoshi Dohi, Ron Kikinis
    PublisherSpringer Verlag
    Number of pages7
    ISBN (Print)9783540457862
    Publication statusPublished - 2002
    Event5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan
    Duration: 2002 Sept 252002 Sept 28

    Publication series

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


    Other5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)


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