New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

M. Hashizume*, T. Yasunaga, K. Tanoue, S. Ieiri, K. Konishi, K. Kishi, H. Nakamoto, D. Ikeda, I. Sakuma, M. Fujie, T. Dohi

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    42 Citations (Scopus)


    Object: To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. Materials and methods: The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. Results: All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D navigation and 2-D ISC images, as well as the MR-compatible laparoscope. The ISC image was updated every 4 s; no artifact was detected. Conclusion: A newly developed MR image-guided surgical robotic system is feasible for an operator to perform safe and precise minimally invasive procedures.

    Original languageEnglish
    Pages (from-to)317-325
    Number of pages9
    JournalInternational journal of computer assisted radiology and surgery
    Issue number6
    Publication statusPublished - 2008


    • Minimally invasive laparoscopic surgery
    • MR image guidance
    • MR image-guided surgical robotic system
    • MR-compatible master-slave surgical manipulator
    • MR-compatible operating table

    ASJC Scopus subject areas

    • Radiology Nuclear Medicine and imaging
    • Health Informatics
    • Surgery
    • Transplantation


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